Translation type drill rod transportation robot and transportation method

Abstract

The invention relates to the technical field of petroleum and natural gas drilling, in particular to a translation type drill rod transportation robot and a transportation method. The translation type drill rod transportation robot comprises a frame body, a grabbing mechanism, a moving mechanism, a supporting mechanism and a turnover lifting mechanism, the frame body is arranged on the moving mechanism, the moving mechanism can drive the frame body to do linear reciprocating motion between a pipe pile and a drill floor face, and then drill rods can be transported between the pipe pile and the drill floor face. And in addition, manual grabbing, posture adjustment, butt joint and other operations are not needed, the labor cost is reduced, and the operation stability is improved. Through low-altitude grabbing and horizontal movement, transportation between the drill rods in the pipe pile and the drill floor surface is achieved, frequent high-altitude hoisting is avoided, the collision risk of the drill rods is reduced, manual errors are reduced through mechanical operation, the damage probability of the drill rods is further reduced, and meanwhile safety of operators is guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of oil and gas drilling, and in particular to a translational drill pipe transport robot and a transport method. Background Art

[0002] At present, with the improvement of the automation level of oil drilling platform operations, wellhead oil equipment with a high degree of automation is being used more and more widely. Among them, the catwalk is an indispensable and important equipment for transporting drill pipes up and down between the drilling platform and the ground. Its degree of automation directly affects the efficiency and safety performance of drilling operations.

[0003] The existing catwalk relies on a crane or hoist to lift and position the drill rods, and requires manual assistance to grab the drill rods, adjust their posture, and place them in the catwalk. The drill rods are then pushed to the drill table to achieve the basic transportation function of the drill rods. This results in low drill rod transportation efficiency and frequent high-altitude lifting operations that cause collision damage to the drill rods. Summary of the Invention

[0004] (1) Technical issues to be resolved

[0005] In view of the above-mentioned shortcomings and deficiencies of the prior art, the present invention provides a translational drill rod transport robot and a transport method, which solve the technical problem of low drill rod transport efficiency.

[0006] (2) Technical solution

[0007] In order to achieve the above objectives, the main technical solutions adopted by the present invention include:

[0008] An embodiment of the present invention provides a translational drill rod transport robot, comprising a frame, a gripping mechanism, a moving mechanism, a supporting mechanism and a flipping and lifting mechanism; the frame is arranged on the moving mechanism, and the moving mechanism can drive the frame to move back and forth in a straight line between the pipe pile and the drill table; the gripping mechanism, the supporting mechanism and the flipping and lifting mechanism are all arranged on the frame, and the gripping mechanism can move in a vertical direction to grip the drill rod in the pipe pile and place it on the supporting mechanism; the supporting mechanism is slidably connected to the frame, and the supporting mechanism moves back and forth along the moving direction of the moving mechanism to receive the drill rod gripped by the gripping mechanism; the flipping and lifting mechanism is used to grip the horizontally placed drill rod on the support mechanism and lift and rotate it to a vertical state.

[0009] Preferably, the grabbing mechanism includes a connecting frame, a lifting assembly and a grabbing assembly; the lifting assembly is arranged on the frame through the connecting frame; the lifting assembly includes a first driving member, a guide rail and a slider, the slider is arranged on the connecting frame, the slider is slidably connected to the guide rail, and the grabbing assembly is arranged at the end of the guide rail; the guide rail extends in the vertical direction, and the first driving member drives the guide rail to slide along the vertical direction of the slider to drive the grabbing assembly to move up and down.

[0010] Preferably, it also includes a first cleaning buckle mechanism, a second cleaning buckle mechanism and an oiling mechanism; the support mechanism receives the drill rod and drives the drill rod to move to the cleaning position; the first cleaning buckle mechanism and the second cleaning buckle mechanism are respectively arranged on both sides of the length direction of the frame to clean the male buckle and the female buckle of the drill rod in the cleaning position respectively; the oiling mechanism is arranged on the first cleaning buckle mechanism for clamping and oiling the male buckle of the drill rod; the flip lifting mechanism is used to grab the cleaned drill rod on the support mechanism.

[0011] Preferably, the oiling mechanism includes two clamping jaws and two first drive assemblies; the two first drive assemblies are respectively arranged on the upper and lower sides of the first cleaning mechanism and are arranged one-to-one with the two clamping jaws; the first end of the first drive assembly is connected to the first cleaning mechanism, and the second end of the first drive assembly is connected to the clamping jaws; the two first drive assemblies simultaneously drive the clamping jaws to move toward each other so as to clamp on the circumference of the drill pipe male buckle; and lubricating oil is provided on the clamping sides of the two clamping jaws.

[0012] Preferably, the support mechanism includes a support frame, a second drive assembly and a drill rod moving assembly; the support frame is located above the frame body, the support frame is slidably connected to the frame body, the fixed end of the second drive assembly is connected to the frame body, and the second drive assembly drives the support frame to move back and forth along the moving direction of the frame body; the drill rod moving assembly is arranged on the support frame to support the drill rod and drive the drill rod to move along its axial direction, thereby bringing the male buckle of the drill rod close to the first clean buckle mechanism or bringing the female buckle of the drill rod close to the second clean buckle mechanism.

[0013] Preferably, the drill rod moving assembly includes an active rolling unit and a driven rolling unit, and the active rolling unit and the driven rolling unit are arranged at intervals; the active rolling unit includes an active roller and a first driven roller, and the rolling surfaces of the active roller and the first driven roller are arranged to form a V-shaped structure; the driven rolling unit includes a second driven roller and a third driven roller, and the rolling surfaces of the second driven roller and the third driven roller are arranged to form a V-shaped structure; the two V-shaped structures support the drill rod, and when the active roller rotates, the drill rod moves along its axial direction.

[0014] Preferably, the flipping and lifting mechanism includes a lifting assembly, a flipping assembly and a manipulator body; the lifting assembly includes a second telescopic member and a parallelogram folding unit, the top edge of the parallelogram folding unit is horizontally oriented, and the driving end of the second telescopic member is connected to one side of the parallelogram folding unit to switch the parallelogram folding unit between a folded state and a lifted state; the flipping assembly is arranged on the parallelogram folding unit, and the rotating end of the flipping assembly is connected to the manipulator body to drive the manipulator body to switch between a horizontal state and a vertical state; when the second telescopic member is in a retracted state, the parallelogram folding unit is folded, and the flipping assembly drives the manipulator body to be in a horizontal state to clamp the drill rod horizontally arranged on the support mechanism, and when the second telescopic member is extended, the parallelogram folding unit is in a lifted state, and the flipping assembly synchronously drives the manipulator body to flip the drill rod to a vertical state.

[0015] Preferably, the parallelogram folding unit includes a first connecting seat, a second connecting seat, a first connecting member, a second connecting member and a third connecting member; the first connecting member and the third connecting member are arranged in parallel and at intervals, and the first end of the first connecting member and the first end of the third connecting member are hinged to the first connecting seat and the second connecting seat respectively; the second connecting member is horizontally oriented, the first end of the second connecting member is hinged to the second end of the first connecting member, and the second end of the second connecting member is hinged to the second end of the third connecting member; the driving end of the second telescopic member is hinged to the first connecting member; when the second telescopic member is in a retracted state, the second connecting member and the third connecting member are folded above the first connecting member, so that the overall height of the parallelogram folding unit is reduced.

[0016] Preferably, the flipping mechanism includes an articulated frame, a pushing member and a flip plate; the articulated frame is mounted on the parallelogram folding unit, the bottom end of the articulated frame is arranged parallel to the second connecting member, and the two ends are hinged to the first connecting member and the third connecting member respectively; the top of the articulated frame is higher than the second connecting member, the articulated frame is hinged to the first hinge point of the flip plate, the first end of the pushing member is hinged to the second connecting member, and the second end of the pushing member is hinged to the second hinge point of the flip plate; the manipulator body is arranged at the far end of the flip plate and is arranged vertically; when the second telescopic member is extended, the pushing member drives the flip plate to rotate around the first hinge point, so that the manipulator body switches from a horizontal state to a vertical state.

[0017] The present invention also provides a translational drill rod transportation method, which uses the above-mentioned translational drill rod transportation robot and performs transportation through the following steps:

[0018] S1, the moving mechanism drives the frame to move to the pipe pile;

[0019] S2, the supporting mechanism moves to the receiving position along the first side of the moving direction of the moving mechanism;

[0020] S3, the grabbing mechanism is capable of moving in the vertical direction to grab the drill pipe in the pipe stack and place it on the support mechanism;

[0021] S4, the supporting mechanism moves along the second side of the moving direction of the moving mechanism;

[0022] S5, the moving mechanism drives the frame to move to the vicinity of the drilling floor;

[0023] S6. The flip lifting mechanism is used to grab the horizontally placed drill rod on the support mechanism and lift and rotate it to a vertical state.

[0024] (3) Beneficial effects

[0025] The beneficial effects of the present invention are:

[0026] The present invention provides a translational drill pipe transport robot comprising a frame, a gripping mechanism, a moving mechanism, a supporting mechanism, and a flipping and lifting mechanism. The frame is mounted on the moving mechanism, and the moving mechanism can drive the frame to move back and forth linearly between the pipe pile and the drill table, thereby enabling the transport of drill pipes between the pipe pile and the drill table. The gripping mechanism, the supporting mechanism, and the flipping and lifting mechanism are all mounted on the frame. The gripping mechanism can move vertically to grab a drill pipe from the pipe pile and place it on the supporting mechanism. The supporting mechanism is slidably connected to the frame, and the supporting mechanism reciprocates along the moving direction of the moving mechanism to receive the drill pipe grabbed by the gripping mechanism. No manual intervention is required for gripping, posture adjustment, and docking operations, thereby reducing labor costs and improving operational stability. Through low-altitude gripping and horizontal movement, the transport of drill pipes from the pipe pile to the drill table is achieved, avoiding frequent high-altitude hoisting and reducing the risk of drill pipe collision. Mechanized operation reduces manual errors, further reducing the probability of drill pipe damage, and ensuring the safety of operators. The tilting and lifting mechanism is used to grab the horizontally placed drill pipe on the support structure and lift it to a vertical position for gripping by the drill floor manipulator. Compared to existing catwalks with a single function, the translational drill pipe transport robot can complete multiple operation steps in a single device, reducing the amount of equipment and floor space required, lowering both equipment and space costs for drilling operations. It also simplifies the operational process and improves the automation and collaborative efficiency of the entire drilling operation.

[0027] The present invention provides a translational drill pipe transportation method, which simplifies the operation process and improves the automation level and coordination efficiency of the entire drilling operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 This is a schematic diagram of the structure of the translational drill pipe transport robot from the first perspective (the gripping mechanism grips the drill pipe);

[0029] Figure 2 This is a first-person structural diagram of the translational drill pipe transport robot (the support mechanism carries the drill pipe).

[0030] Figure 3 This is a structural diagram of the translational drill pipe transport robot from the second perspective;

[0031] Figure 4 Schematic diagram of the structure of the grabbing mechanism (connecting frame not shown);

[0032] Figure 5 A schematic diagram of the structure of the guide structure and the guide prism;

[0033] Figure 6 It is a longitudinal sectional view of a portion of the grab assembly;

[0034] Figure 7 Schematic diagram of the structure of the translational drill pipe transport robot from the third perspective (the flipping and lifting mechanism is not shown);

[0035] Figure 8 for Figure 7 A magnified schematic diagram of part A;

[0036] Figure 9 for Figure 7 An enlarged schematic diagram of part B;

[0037] Figure 10 Schematic diagram of the structure of the first cleaning buckle mechanism and the second cleaning buckle mechanism;

[0038] Figure 11 Schematic diagram of the structure of the first cleaning mechanism and the oiling mechanism;

[0039] Figure 12 It is a structural diagram of the oiling mechanism;

[0040] Figure 13 This is a structural diagram of the support mechanism driving the drill rod to move to the cleaning position;

[0041] Figure 14 This is a structural diagram of the drill rod moving assembly driving the drill rod to move to dock with the first cleaning mechanism (the oiling mechanism oils the male buckle of the drill rod);

[0042] Figure 15 for Figure 14 A magnified schematic diagram of part C;

[0043] Figure 16 This is a structural diagram of the drill rod moving assembly driving the drill rod to move to dock with the second cleaning mechanism;

[0044] Figure 17 It is a structural schematic diagram of the flip lifting mechanism in a folded state;

[0045] Figure 18 It is a structural schematic diagram of the lifting state of the flip lifting mechanism;

[0046] Figure 19 for Figure 18 An enlarged schematic diagram of part D in the middle;

[0047] Figure 20 for Figure 19 A structural diagram from another perspective;

[0048] Figure 21 for Figure 17 Front view of

[0049] Figure 22 It is a structural diagram of the flip lifting mechanism during the rising process;

[0050] Figure 23 for Figure 22A schematic diagram of the structure of the mid-turn lifting mechanism further rising;

[0051] Figure 24 It is a structural diagram of the flip lifting mechanism lifted into place.

[0052] [Description of Reference Numerals]

[0053] 1: frame;

[0054] 2: Grabbing mechanism; 21: Connecting frame; 211: Avoidance hole; 22: Lifting assembly; 221: First driving member; 2211: Rack; 2212: Motor; 222: Guide rail; 2221: Guide prism; 223: Slider; 224: Guide structure; 2241: Guide seat; 2242: Guide wheel; 23: Grabbing assembly; 231: Connecting plate; 232: Magnetic unit; 2321: First telescopic member; 2322: Magnetic clamp; 233: Grabbing unit; 2331: Second driving member; 2332: Clamping arm; 2333: Driving arm;

[0055] 3: moving mechanism; 31: track; 32: moving wheel;

[0056] 4: Support mechanism; 41: Support frame; 411: Through hole; 42: Second drive assembly; 421: Horizontal telescopic member; 422: Movable guide rail; 423: Roller; 43: Drill rod moving assembly; 431: Active rolling unit; 4311: Active roller; 4312: First driven roller; 432: Driven rolling unit; 4321: Second driven roller; 4322: Third driven roller; 44: Limiting member;

[0057] 5: Flip and lift mechanism; 51: Lifting assembly; 511: Second telescopic member; 512: Parallelogram folding unit; 5121: First connecting seat; 5122: Second connecting seat; 5123: First connecting member; 5124: Second connecting member; 5125: Third connecting member; 52: Flip assembly; 521: Articulated frame; 522: Pushing member; 523: Flip plate; 5231: Weight reduction hole; 53: Manipulator body; 531: Support column; 532: Clamp assembly; 54: Support assembly; 541: Support seat; 542: Support arm; 543: Third driving member; 55: Support seat; 56: Bottom plate; 57: Rotating shaft; 58: Connecting shaft;

[0058] 6: First cleaning mechanism; 61: Brush head assembly; 62: Adjustment assembly; 63: Revolution drive assembly; 6': Second cleaning mechanism;

[0059] 7: Oiling mechanism; 71: Clamping claw; 72: First driving assembly; 721: Fixed seat; 722: Third telescopic member; 723: Parallelogram connecting rod;

[0060] 8: lifting mechanism;

[0061] 9: Drill rod. DETAILED DESCRIPTION

[0062] In order to better explain the present invention and facilitate understanding, the present invention is described in detail below through specific implementation methods in conjunction with the accompanying drawings.

[0063] Example 1

[0064] like Figure 1-Figure 3 As shown, an embodiment of the present invention provides a translational drill rod transport robot, which includes a frame 1, a gripping mechanism 2, a moving mechanism 3, a supporting mechanism 4, a flipping and lifting mechanism 5, a first cleaning mechanism 6, a second cleaning mechanism 6' and an oiling mechanism 7.

[0065] The frame 1 is arranged on the moving mechanism 3, and the moving mechanism 3 can drive the frame 1 to move back and forth linearly between the pipe pile and the drilling floor, thereby enabling the drill rods 9 to be transported between the pipe pile and the drilling floor.

[0066] The gripping mechanism 2, support mechanism 4, flipping and lifting mechanism 5, first cleaning and fastening mechanism 6, second cleaning and fastening mechanism 6', and oiling mechanism 7 are all mounted on the frame 1. The gripping mechanism 2 can be moved vertically to grab the drill pipe 9 from the pipe stack and place it on the support mechanism 4. The support mechanism 4 is slidably connected to the frame 1 and reciprocates along the movement direction of the moving mechanism 3 to receive the drill pipe 9 grasped by the gripping mechanism 2. No manual intervention is required for gripping, posture adjustment, and docking operations, reducing labor costs and improving operational stability. Through low-altitude gripping and horizontal movement, the drill pipe 9 can be transported from the pipe stack to the drilling floor, avoiding frequent high-altitude lifting and reducing the risk of collision with the drill pipe 9. Mechanized operation reduces human error, further reducing the probability of damage to the drill pipe 9, and ensuring the safety of operators.

[0067] The tilting and lifting mechanism 5 is used to grasp the horizontally placed drill pipe 9 on the support mechanism 4 and lift it to a vertical position for gripping by the drill floor manipulator. Compared to existing catwalks with a single function, the translational drill pipe transport robot can complete multiple operation steps in a single device, reducing the amount of equipment and floor space required, lowering the equipment and space costs of drilling operations, simplifying the operation process, and improving the level of automation and collaborative efficiency of the entire drilling operation.

[0068] In this embodiment, the moving direction of the moving mechanism 3 is parallel to the width direction of the drilling floor, and the axial direction of the drill pipe 9 in the pipe stack is perpendicular to the moving direction of the moving mechanism 3 .

[0069] like Figure 1 and Figure 2As shown, the moving mechanism 3 includes a drive assembly, two rails 31, and moving wheels 32 arranged at the bottom of the frame 1. The two rails 31 are spaced apart and arranged in parallel. The rails 31 extend along the moving direction of the moving mechanism 3, and the moving wheels 32 at both ends of the frame 1 are slidably connected to the two rails 31. The drive assembly drives the moving wheels 32 at the bottom of the frame 1 to move back and forth on the rails 31. The combination of the double rails 31 and the moving wheels 32 provides stable support, reduces shaking during operation, and ensures safe transportation of the drill rod 9. Among them, the moving wheels 32 use a rolling friction movement mode to reduce energy consumption and maintenance requirements, making them suitable for long-term continuous operation.

[0070] like Figure 2 As shown, the grabbing mechanism 2 includes a connecting frame 21, a lifting assembly 22 and a grabbing assembly 23. The lifting assembly 22 is arranged on the frame 1 through the connecting frame 21. Figure 4 As shown, the lifting assembly 22 includes a first driving member 221, a guide rail 222, and a slider 223. The slider 223 is disposed on the connecting frame 21 and is slidably connected to the guide rail 222. The grabbing assembly 23 is disposed at the end of the guide rail 222. The guide rail 222 extends in the vertical direction. The first driving member 221 drives the guide rail 222 to slide in the vertical direction of the slider 223 to drive the grabbing assembly 23 to move up and down. The sliding cooperation between the guide rail 222 and the slider 223 achieves stable vertical movement of the grabbing assembly 23, thereby improving the grabbing accuracy of the drill rod 9.

[0071] Since the drill rods 9 are stacked in disorder in the pipe pile, there are differences in the height of the drill rods 9. To improve the accuracy of the lifting and lowering of the grabbing assembly 23, the first driving member 221 includes a rack 2211, a gear (not shown), and a motor 2212. The rack 2211 is provided on the guide rail 222 and arranged along the extension direction of the guide rail 222. The fixed end of the motor 2212 is provided on the slider 223. The output end of the motor 2212 is connected to the gear to drive the gear to rotate. The gear engages with the rack 2211. The gear rotates to drive the rack 2211 on the guide rail 222 to move up and down, thereby lifting and lowering the grabbing assembly 23 at the end of the guide rail 222. The gear transmission structure of the rack 2211 has high transmission efficiency and can directly convert the power of the motor 2212 into linear motion, making it suitable for operation scenarios with frequent starts and stops.

[0072] Because the lifting assembly 22 has a long travel range of over 5 meters, to stabilize the guide rail 222 during the lifting process and prevent shaking, the lifting assembly 22 also includes multiple guide structures 224. The guide rail 222 is provided with multiple guide prisms 2221, which extend vertically. The guide structures 224 are disposed on the slider 223, and the guide structures 224 and the guide prisms 2221 are arranged in a one-to-one correspondence. The guide structures 224 are provided with guide grooves to allow the guide prisms 2221 to slide within the guide grooves. The cooperation between the guide prisms 2221 and the guide grooves limits the lateral displacement of the guide rail 222, making the lifting process smoother and reducing the risk of jamming. The provision of multiple guide structures 224 evenly distributes the load, extending the service life of the guide rail 222 and the slider 223.

[0073] like Figure 5 As shown, the guide structure 224 includes a guide seat 2241 and a guide wheel 2242. The guide seat 2241 is disposed at the top of the slider 223. The two ends of the guide wheel 2242 are rotatably connected to the guide seat 2241. The middle of the guide wheel 2242 is provided with a guide groove, which converts sliding friction into rolling friction, reducing energy consumption and wear, thereby increasing the service life of the lifting assembly 22. The guide groove is V-shaped, which automatically guides the guide prism 2221 into the groove, simplifying the installation process.

[0074] like Figure 4 and Figure 6 As shown, the grabbing assembly 23 includes a connecting plate 231, two magnetic units 232, and two grabbing units 233. The connecting plate 231 extends along the axis of the drill rod 9 and is perpendicular to the end of the guide rail 222. The two magnetic units 232 and the two grabbing units 233 are both arranged on the connecting plate 231. The two magnetic units 232 are respectively arranged on both sides of the connecting plate 231 and are used to magnetically attract the drill rod 9 along the axis of the drill rod 9. The two grabbing units 233 are respectively arranged on both sides of the connecting plate 231 and are used to clamp the drill rod 9 after magnetic attraction. The magnetic units 232 are first magnetically positioned along the axis of the drill rod 9, and then clamped by the grabbing units 233, which improves the success rate of grabbing. This is particularly suitable for drill rods 9 stacked at different heights in a pipe stack. The magnetic and grabbing units 233 are symmetrically arranged on both sides to balance the force on the drill rod 9 and prevent it from tilting or falling.

[0075] like Figure 6 As shown, the magnetic unit 232 includes a first telescopic member 2321 and a magnetic clamp 2322. The fixed end of the first telescopic member 2321 is disposed on the connecting plate 231, and the telescopic end of the first telescopic member 2321 is connected to the magnetic clamp 2322. The first telescopic member 2321 enables the magnetic clamp 2322 to adapt to the position of the drill rod 9, preventing the surface of the drill rod 9 from being damaged by rigid collision.

[0076] like Figure 6 As shown, the grabbing unit 233 includes a second driving member 2331, two clamping arms 2332, and two driving arms 2333. The first ends of the two driving arms 2333 are hinged to the second driving member 2331, and the second ends of the two driving arms 2333 are respectively hinged to the first ends of the two clamping arms 2332. The second ends of the clamping arms 2332 are hinged to the inside of the connecting plate 231. The moving end of the second driving member 2331 simultaneously drives the two driving arms 2333 to move, thereby driving the first ends of the clamping arms 2332 to rotate about the second ends, so that the distal ends of the two clamping arms 2332 open and close, thereby clamping the drill rod 9 on the magnetic clamping claws 2322. The first telescopic member 2321 and the second driving member 2331 are both hydraulic first telescopic members.

[0077] like Figure 2 As shown, in order to avoid interference between the grabbing assembly 23 and the connecting frame 21 when it rises, an avoidance hole 211 is provided on the connecting frame 21 to accommodate the top end of the grabbing assembly 23. At the same time, the overall height of the mechanism is shortened, and failures caused by collision of components are effectively prevented, thereby extending the service life of the equipment.

[0078] When the support mechanism 4 is in the receiving position, the support mechanism 4 can support and receive the drill rod 9 grasped by the grasping mechanism 2. The support mechanism 4 receives the drill rod 9 and drives the drill rod 9 to move to the cleaning position. The first cleaning buckle mechanism 6 and the second cleaning buckle mechanism 6' are respectively arranged on both sides of the length direction of the frame 1 to clean the male buckle and female buckle of the drill rod 9 in the cleaning position respectively. Figure 14 and Figure 16 As shown, when the support mechanism 4 moves to the cleaning position, the threads on the male and female buckles at both ends of the drill pipe 9 are cleaned by the first cleaning buckle mechanism 6 and the second cleaning buckle mechanism 6', so that the device can complete the cleaning work on both ends of the drill pipe 9 while transporting the drill pipe 9, avoiding the situation in the prior art where the transportation and cleaning of the drill pipe 9 are separated and additional operations are required, which not only saves time but also ensures the cleanliness of the fastening part of the drill pipe 9, providing a guarantee for the smooth progress of subsequent drilling operations.

[0079] An oiling mechanism 7, mounted on the first screw cleaning mechanism 6, is used to clamp and oil the male screw of the drill pipe 9. This allows for immediate oiling during the cleaning process, achieving an integrated cleaning and oiling operation. This translational drill pipe transport robot integrates multiple functions, including transport, cleaning the male and female screws of the drill pipe 9, oiling the male screw, and flipping and lifting the screw. Compared to existing catwalks with a single function, this robot can perform multiple operational steps in a single device, reducing the amount of equipment and floor space required, lowering both equipment and space costs for drilling operations. It also simplifies the operational process and improves the automation and collaborative efficiency of the entire drilling operation.

[0080] like Figure 7As shown, the first and second thread cleaning mechanisms 6 and 6' are identical in structure, differing only in their mounting locations. Furthermore, an oiling mechanism 7 is mounted on the first thread cleaning mechanism 6 via a mounting bracket to lubricate the outer surface of the pin of the drill rod 9. The thread cleaning mechanism is a device used to clean the threaded surface of the pin or box of the drill rod 9.

[0081] like Figure 10 As shown, regarding the first cleaning mechanism 6 and the second cleaning mechanism 6' described in this embodiment, their specific structure and working principle can refer to the technical solution described in the invention patent (application number: 202510338289.6). Among them, the first cleaning mechanism 6 includes a brush head assembly 61, an adjustment assembly 62 and a revolution drive assembly 63. The adjustment assembly 62 connects the brush head assembly 61 and the revolution drive assembly 63. The rotation axis of the adjustment assembly 62 is the revolution axis. The adjustment assembly 62 is used to adjust the offset between the axis of the brush head assembly 61 and the revolution axis so that the head end of the brush head assembly 61 is attached to the threaded surface of the male or female buckle of the drill rod 9 arranged coaxially with the revolution axis. The revolution drive assembly 63 is used to drive the adjustment assembly 62 and the brush head assembly 61 whose head end is attached to the threaded surface to rotate synchronously around the revolution axis, and the brush head assembly 61 rotates synchronously when rotating around the revolution axis. The adjustment component 62 adjusts the radial offset of the axis of the brush head component 61 and the revolution axis in the revolution axis so that the head end of the brush head component 61 is adapted to fit the threaded surface of the male or female buckle of the drill rod 9 of different diameters. When the head end of the brush head component 61 fits on the threaded surface to be cleaned, the brush head component 61 can be driven by the revolution drive component 63 to rotate circumferentially around the drill rod 9 to be cleaned, and the brush head component 61 can rotate on its own to clean the drill rod 9, so as to realize automatic cleaning of the male and female buckles of the drill rods 9 of different diameters, reduce the labor intensity of the workers, and improve the cleaning efficiency and cleaning quality. It will not be repeated here. It is worth noting that the cleaning mechanism of the present application is not limited to the structure of the above-mentioned cited patent, and other technical solutions that can achieve the same cleaning function can also be adopted.

[0082] like Figure 11 and Figure 15 As shown, the oiling mechanism 7 includes two clamping jaws 71 and two first drive assemblies 72. The two first drive assemblies 72 are respectively arranged on the upper and lower sides of the first cleaning mechanism 6 and are arranged one-to-one with the two clamping jaws 71. The first end of the first drive assembly 72 is connected to the first cleaning mechanism 6, and the second end of the first drive assembly 72 is connected to the clamping jaws 71. The two first drive assemblies 72 simultaneously drive the clamping jaws 71 to move toward each other to clamp on the circumference of the male buckle of the drill rod 9. Lubricating oil is provided on the clamping sides of the two clamping jaws 71. Figure 12As shown, the first drive assembly 72 includes a third telescopic member 722, a fixed seat 721 and two sets of parallelogram links 723. The fixed seat 721 is arranged on the mounting frame of the first cleaning mechanism 6. The two sets of parallelogram links 723 are arranged in parallel, and the first sides are respectively hinged to the two sides of the fixed seat 721. The two sets of parallelogram links 723 are connected by a connecting rod. The fixed end of the third telescopic member 722 is hinged to the fixed seat 721, and the telescopic end of the third telescopic member 722 is hinged to the connecting rod, wherein the second sides of the parallelogram links 723 are connected to the clamping claw 71. When the third telescopic parts 722 of the two first drive assemblies 72 are extended, the upper and lower jaws 71 are close to and clamped on the circumference of the male buckle of the drill rod 9, wherein one side of the jaw 71 has an arc-shaped portion that matches the outer periphery of the male buckle of the drill rod 9, and a groove for accommodating lubricating oil is provided on the arc-shaped portion. When the jaw 71 is clamped on the outer periphery of the male buckle of the drill rod 9, the lubricating oil is coated on the outer periphery of the male buckle of the drill rod 9, thereby realizing contact oiling.

[0083] like Figure 7 As shown, the drill rod transport device also includes two lifting mechanisms 8. A first cleaning mechanism 6 and a second cleaning mechanism 6' are respectively mounted on the frame 1 via the two lifting mechanisms 8. The lifting mechanisms 8 on either side respectively drive the first cleaning mechanism 6 and the second cleaning mechanism 6' to move vertically upward and downward. By providing the lifting mechanisms 8, the height of the cleaning mechanisms can be flexibly adjusted according to the size of the drill rod 9 and operational requirements. When the drill rod 9 is transported to the cleaning position, the lifting mechanisms 8 drive the cleaning mechanisms to move vertically upward and downward, aligning the male and female snaps of the drill rod 9. Furthermore, the lifting function allows the cleaning mechanisms to be stowed when not in operation, reducing the space occupied by the equipment and improving the adaptability and safety of the device.

[0084] like Figure 13 As shown, the support mechanism 4 includes a support frame 41, a second drive assembly 42, and a drill rod moving assembly 43. The support frame 41 is located above the frame body 1 and is slidably connected to the frame body 1. The fixed end of the second drive assembly 42 is connected to the frame body 1. The second drive assembly 42 drives the support frame 41 to reciprocate along the movement direction of the frame body 1. The drill rod moving assembly 43 is disposed on the support frame 41 to support the drill rod 9 and drive the drill rod 9 to move along its axis, thereby bringing the male buckle of the drill rod 9 into proximity with the first cleaning buckle mechanism 6 or bringing the female buckle of the drill rod 9 into proximity with the second cleaning buckle mechanism 6'. The second drive assembly 42 drives the support frame 41 to move along the frame body 1, transporting the drill rod 9 from the receiving support position to the cleaning position. The drill rod moving assembly 43 further drives the drill rod 9 to move along its axis, aligning the male buckle with the first cleaning buckle mechanism 6 or the female buckle with the second cleaning buckle mechanism 6'. This eliminates the need for manual adjustment of the drill rod 9's posture, significantly improving cleaning efficiency and automation, and ensuring that all parts of the drill rod 9 are effectively treated.

[0085] like Figure 8 and Figure 9As shown, the drill rod movement assembly 43 includes an active rolling unit 431 and a passive rolling unit 432, which are spaced apart. The active rolling unit 431 includes an active roller 4311 and a first passive roller 4312. The rolling surfaces of the active roller 4311 and the first passive roller 4312 are arranged in a V-shaped configuration. The passive rolling unit 432 includes a second passive roller 4321 and a third passive roller 4322. The rolling surfaces of the second and third passive rollers 4321 and 4322 are arranged in a V-shaped configuration. The two V-shaped configurations support the drill rod 9. When the active roller 4311 rotates, the drill rod 9 moves along its axis. The rotation of the active roller 4311 drives the drill rod 9 to translate along its axis, and the contact friction between the V-shaped groove and the outer surface of the drill rod 9 achieves stable transmission. This configuration is adaptable to drill rods 9 of varying diameters. At the same time, the V-shaped layout ensures that the drill rod 9 remains centered during movement, can be aligned with the buckle cleaning mechanism, and improves the stability of the movement of the drill rod 9.

[0086] like Figure 9 As shown, in this embodiment, the support mechanism 4 also includes two limiters 44, which are spaced apart on the support frame 41 along the axis of the drill rod 9. The limiters 44 have U-shaped grooves to limit the radial direction of the drill rod 9, preventing the drill rod 9 from shaking significantly during movement and causing the drill rod 9 to fall off, thereby ensuring that the drill rod 9 always moves stably along the axis. A vertical gap is provided between the bottom wall of the U-shaped groove and the outer surface of the drill rod 9, allowing the drill rod 9 to be supported by a V-shaped structure, avoiding direct contact and wear between the limiters 44 and the drill rod 9, and taking into account both the limit function and the protection of the drill rod 9, further improving the operational reliability of the device.

[0087] like Figure 13 As shown, two through holes 411 are provided on the support frame 41 in the vertical direction, and the first cleaning buckle mechanism 6 and the second cleaning buckle mechanism 6' are arranged on the frame body 1. The first cleaning buckle mechanism 6 and the second cleaning buckle mechanism 6' are respectively opposite to the two through holes 411 of the support frame 41. When the second driving assembly 42 drives the support frame 41 to move to the cleaning position, the two lifting mechanisms 8 respectively drive the first cleaning buckle mechanism 6 and the second cleaning buckle mechanism 6' to extend out of the two through holes 411 and face the two ends of the drill rod 9.

[0088] like Figure 8 and Figure 9As shown, the second drive assembly 42 includes a horizontal telescopic member 421, a movable guide rail 422, and a roller 423. The fixed end of the horizontal telescopic member 421 is connected to the frame 1, and the telescopic end of the horizontal telescopic member 421 is connected to the support frame 41. The movable guide rail 422 is provided on the frame 1 and extends along the direction of movement. The roller 423 is provided at the bottom end of the support frame 41 and is slidably connected to the movable guide rail 422. The movable guide rail 422 and the roller 423 cooperate to guide and reduce frictional resistance, making the support frame 41 move more smoothly and accurately. To ensure smoother operation of the support frame 41.

[0089] like Figure 17 As shown, the flip-lift mechanism 5 is used to grab the cleaned drill rod 9 on the support mechanism 4, and the flip-lift assembly 51 includes a lifting assembly 51, a flip assembly 52, a manipulator body 53 and a supporting assembly 54. Among them, the lifting assembly 51 includes a second telescopic member 511 and a parallelogram folding unit 512. The top edge of the parallelogram folding unit 512 is horizontally oriented. The driving end of the second telescopic member 511 is connected to one side of the parallelogram folding unit 512 so that the parallelogram folding unit 512 can switch between a folded state and a lifted state. By providing the parallelogram folding unit 512, when the second telescopic member 511 retracts, the overall height of the manipulator is greatly reduced, forming a compact folded state, which is convenient for transportation and storage, and effectively solves the problem of large transportation space occupation and high cost caused by the fixed structure of the flip-lift manipulator in the prior art.

[0090] like Figure 17 As shown, the flip assembly 52 is arranged on the parallelogram folding unit 512, and the rotating end of the flip assembly 52 is connected to the manipulator body 53 to drive the manipulator body 53 to switch between a horizontal state and a vertical state. When the second telescopic member 511 is in the retracted state, the parallelogram folding unit 512 is folded, and the flip assembly 52 drives the manipulator body 53 to a horizontal state to clamp the drill rod 9 horizontally arranged in the pipe yard. When the second telescopic member 511 is extended, the parallelogram folding unit 512 is in a lifted state, and the flip assembly 52 synchronously drives the manipulator body 53 to flip the drill rod 9 to a vertical state. When the parallelogram folding unit 512 is unfolded to the lifted state, the manipulator body 53 synchronously drives the drill rod 9 to flip to a vertical state, reducing additional adjustment steps and improving the conveying efficiency of the drill rod 9. In the folded state, the manipulator body 53 remains horizontal, avoiding the risk of collision caused by structural protrusions during transportation.

[0091] like Figure 18As shown, the parallelogram folding unit 512 includes a first connecting base 5121, a second connecting base 5122, a first connecting member 5123, a second connecting member 5124, and a third connecting member 5125. The first connecting member 5123 and the third connecting member 5125 are arranged in parallel and spaced apart, and the first end of the first connecting member 5123 and the first end of the third connecting member 5125 are hinged to the first connecting base 5121 and the second connecting base 5122, respectively.

[0092] The second connecting member 5124 is arranged horizontally, the first end of the second connecting member 5124 is hinged to the second end of the first connecting member 5123, the second end of the second connecting member 5124 is hinged to the second end of the third connecting member 5125, and the driving end of the second telescopic member 511 is hinged to the first connecting member 5123. Figure 17 As shown, when the second telescopic member 511 is in the retracted state, the second connecting member 5124 and the third connecting member 5125 are folded above the first connecting member 5123, so that the overall height of the parallelogram folding unit 512 is reduced.

[0093] like Figure 17 and Figure 18 As shown, the flipping and lifting mechanism 5 also includes a base plate 56 and a support seat 55. The fixed end of the second telescopic member 511 is connected to the base plate 56. The first connecting seat 5121, the second connecting seat 5122 and the support seat 55 are all arranged on the base plate 56. The support seat 55 is used to support the first connecting member 5123 in the folded state to prevent the parallelogram folding unit 512 from sagging and deforming due to its own weight or external force, thereby extending the mechanical life.

[0094] Among them, the first connecting seat 5121 and the second connecting seat 5122 are arranged at intervals, the first end of the first connecting member 5123 is hinged to the first connecting seat 5121, the first end of the third connecting member 5125 is hinged to the second connecting seat 5122, and the lengths of the second connecting member 5124 and the third connecting member 5125 are adapted to the movement trajectory of the first connecting member 5123 to ensure that the movement trajectory of each component of the connecting rod assembly is smooth during folding or lifting, avoiding mutual collision or jamming.

[0095] In this embodiment, to ensure that the parallelogram folding unit 512 in the lifting assembly 51 is fully folded and the overall height is minimized, the sum of the length of the first connecting member 5123, the distance between the first connecting seat 5121 and the second connecting seat 5122, and the sum of the lengths of the second connecting member 5124 and the third connecting member 5125 are equal. The height of the first connecting seat 5121 is higher than the height of the second connecting seat 5122. The lengths of the first connecting member 5123, the second connecting member 5124, and the third connecting member 5125 refer to the distances between their hinge points along their lengths, and the distance between the first connecting seat 5121 and the second connecting seat 5122 refers to the shortest distance between the vertical lines of their hinge points. The height of the first connecting seat 5121 and the height of the second connecting seat 5122 refer to the heights of their hinge points. The height difference between the hinge points ensures that the first and third connecting members are parallel and non-interfering when folded.

[0096] like Figure 18 As shown, the first connector 5123, the second connector 5124, and the third connector 5125 each include two parallel hinged columns and a connecting column connected between the two hinged columns. The two hinged columns each form a hinge point at either end. This combined structure of two hinged columns and connecting columns reduces weight while enhancing the bending and torsional strength of the connectors, allowing them to withstand the heavy loads of the drill rod 9 when it is lifted, preventing component breakage.

[0097] like Figure 19 and Figure 20 As shown, the flip assembly 52 includes an articulated frame 521, a pusher 522 and a flip plate 523. The articulated frame 521 is sleeved on the parallelogram folding unit 512. The bottom end of the articulated frame 521 is arranged parallel to the second connecting member 5124, and the two ends are hinged to the first connecting member 5123 and the third connecting member 5125 respectively. The top of the articulated frame 521 is higher than the second connecting member 5124. The articulated frame 521 is hinged to the first hinge point of the flip plate 523. The first end of the pusher 522 is hinged to the second connecting member 5124. The second end of the pusher 522 is hinged to the second hinge point of the flip plate 523. The manipulator body 53 is arranged at the far end of the flip plate 523 and is arranged vertically. The force arm is extended so that the clamping point is away from the flip center, reducing the flip resistance and facilitating the picking up of the drill rod 9 from the yard. Figure 21-24 As shown, when the second telescopic member 511 is extended, the second connecting member 5124 moves horizontally, driving the pusher 522 to move relative to the hinge point on the hinge frame 521. This causes the second end of the pusher 522 to drive the flip plate 523 to rotate about the first hinge point, switching the manipulator body 53 from a horizontal position to a vertical position. This flip-and-lift mechanism can achieve both flipping and lifting actions with only one driving member, saving production costs.

[0098] like Figure 19 and Figure 20 As shown, the articulated frame 521 is a triangular frame structure, with the top end of the articulated frame 521 connected to the flip plate 523 via a rotating shaft 57. The pusher 522 is a rectangular frame structure, tilted, with a first end hinged to the second connecting member 5124. The second end of the pusher 522 passes through the articulated frame 521 and is connected to the flip plate 523 via a connecting shaft 58. The first end of the connecting shaft 58 is connected to the second end of the pusher 522, and the second end of the connecting shaft 58 is hinged to the flip plate 523. The combined structure of the triangular articulated frame 521 and the rectangular pusher 522 improves torsional rigidity and reduces vibration during the flipping process, making it suitable for heavy-load flipping of large-diameter drill pipes 9.

[0099] like Figure 18 As shown, the flip plate 523 is a triangular structure, the vertex of the flip plate 523 forms a first hinge point, the bottom edge of the flip plate 523 is connected to the manipulator body 53, and at least one weight-reducing hole 5231 is provided on the flip plate 523. The weight-reducing hole 5231 reduces the weight of the flip plate 523 and reduces the driving load of the flip assembly 52.

[0100] like Figure 18 As shown, the support assembly 54 includes a support seat 541, a support arm 542, and a third drive member 543. The support seat 541 is set on the base plate 56 through a connecting seat. The first end of the support arm 542 is hinged to the support seat 541. The fixed end of the third drive member 543 is connected to the support seat 541. The telescopic end of the third drive member 543 is hinged to the bottom end of the support arm 542. The third drive member 543 drives the support arm 542 to rotate around the support seat 541 to a horizontal state to support the drill rod 9 in the vertical state. After the drill rod 9 is flipped to the vertical state, the support arm 542 provides additional support to prevent the drill rod 9 from falling due to loosening of the clamping of the manipulator body 53 during the handover, thereby improving the safety of the operation.

[0101] like Figure 23 As shown, the manipulator body 53 includes a support 531 and two clamp assemblies 532. The support 531 is connected to the tilting mechanism, and the two clamp assemblies 532 are mounted at both ends of the support 531. The clamp assemblies 532 clamp the drill rod 9. The specific structure and clamping principle of the manipulator body 53 are not described here. The specific structure and clamping principle of the manipulator body 53 can be referred to the composite clamp disclosed in Publication No. CN119550266A.

[0102] Example 2

[0103] This embodiment provides a translational drill rod transportation method, which uses the above-mentioned translational drill rod transportation robot and performs transportation through the following steps:

[0104] S1, the moving mechanism 3 drives the frame 1 to move to the pipe stack;

[0105] S2, the supporting mechanism 4 moves to the receiving position along the first side of the moving direction of the moving mechanism 3;

[0106] S3, the grabbing mechanism 2 can move in the vertical direction to grab the drill rod 9 in the pipe stack to place it on the support mechanism 4, the lifting assembly 22 in the grabbing mechanism 2 drives the grabbing assembly 23 to descend and grab the drill rod 9, after grabbing the drill rod 9, the lifting assembly 22 drives the grabbing assembly 23 to rise, at this time the second driving assembly 42 of the support mechanism 4 drives the support frame 41 to move horizontally to the receiving position, that is, below the grabbing assembly 23, the lifting assembly 22 drives the grabbing assembly 23 to move downward, the grabbing assembly 23 opens and places the drill rod 9 on the drill rod moving assembly 43, and the lifting assembly 22 drives the grabbing assembly 23 to move upward to avoid;

[0107] S4, the second driving assembly 42 of the support mechanism 4 drives the support frame 41 to move horizontally to the cleaning position, and the lifting mechanism 8 drives the cleaning buckle mechanism to extend from the through hole 411 of the support frame 41, and face the male buckle and female buckle at both ends of the drill rod 9; Figure 14 As shown, the drill rod moving assembly 43 drives the drill rod 9 to approach the first cleaning buckle mechanism 6, and the first cleaning buckle mechanism 6 cleans the male buckle of the drill rod 9, as shown in FIG. Figure 15 As shown, the oiling mechanism 7 clamps and oils the male buckle of the drill rod 9. When the male buckle of the drill rod 9 is cleaned, Figure 16 As shown, the drill rod moving assembly 43 drives the drill rod 9 to move close to the second cleaning buckle mechanism 6', and the second cleaning buckle mechanism 6' cleans the female buckle of the drill rod 9;

[0108] S5, the moving mechanism 3 drives the frame 1 to move to the vicinity of the drilling table;

[0109] S6. The flipping and lifting mechanism 5 is used to grab the horizontally placed drill rod 9 on the support mechanism 4 and lift and rotate it to a vertical position. When the second telescopic member 511 of the lifting assembly 51 is in the retracted position, the parallelogram folding unit 512 is folded, and the flipping assembly 52 drives the manipulator body 53 to a horizontal position to grab the cleaned, horizontally placed drill rod 9 on the support assembly. When the second telescopic member 511 is extended, the folding unit of the parallelogram connecting rod 723 is in the lifted position, and the flipping assembly 52 synchronously drives the manipulator body 53 to flip the drill rod 9 to a vertical position to facilitate grabbing by the manipulator on the drilling floor.

[0110] The translational drill pipe transportation method provided in this embodiment can complete multiple operation steps, simplify the operation process, and improve the automation level and coordination efficiency of the entire drilling operation.

[0111] In the description of the present invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of the technical features indicated. Therefore, a feature specified as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, "plurality" means two or more, unless otherwise specifically defined.

[0112] In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "connect," "fixed," etc. should be understood broadly. For example, they may refer to fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; and internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0113] Although the embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and are not to be construed as limitations on the present invention. A person skilled in the art may alter, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A translational drill pipe transport robot, characterized in that: It comprises a frame (1), a grasping mechanism (2), a moving mechanism (3), a supporting mechanism (4) and a flipping and lifting mechanism (5); The frame (1) is arranged on the moving mechanism (3), and the moving mechanism (3) can drive the frame (1) to move back and forth in a straight line between the pipe pile and the drilling floor; The grabbing mechanism (2), the supporting mechanism (4) and the flipping and lifting mechanism (5) are all arranged on the frame (1); the grabbing mechanism (2) can move in a vertical direction to grab the drill pipe (9) in the pipe pile and place it on the supporting mechanism (4); The support mechanism (4) is slidably connected to the frame (1), and the support mechanism (4) reciprocates along the moving direction of the moving mechanism (3) to receive the drill rod (9) grasped by the grasping mechanism (2); The flipping and lifting mechanism (5) is used to grab the horizontally placed drill rod (9) on the supporting mechanism (4) and lift and rotate it to a vertical state.

2. The translational drill rod transport robot according to claim 1, wherein: The grabbing mechanism (2) comprises a connecting frame (21), a lifting assembly (22) and a grabbing assembly (23); The lifting assembly (22) is arranged on the frame (1) via the connecting frame (21); The lifting assembly (22) comprises a first driving member (221), a guide rail (222) and a slider (223); the slider (223) is arranged on the connecting frame (21); the slider (223) is slidably connected to the guide rail (222); and the grabbing assembly (23) is arranged at an end of the guide rail (222); The guide rail (222) extends in a vertical direction, and the first driving member (221) drives the guide rail (222) to slide in the vertical direction of the slider (223) to drive the grabbing assembly (23) to move up and down.

3. The translational drill rod transport robot according to claim 1, wherein: It also includes a first cleaning mechanism (6), a second cleaning mechanism (6') and an oiling mechanism (7); The support mechanism (4) receives the drill rod (9) and drives the drill rod (9) to move to a cleaning position; The first cleaning buckle mechanism (6) and the second cleaning buckle mechanism (6') are respectively arranged on both sides of the frame (1) in the length direction to respectively clean the male buckle and the female buckle of the drill rod (9) at the cleaning position; The oiling mechanism (7) is arranged on the first cleaning mechanism (6) and is used for oiling the male clamp of the drill rod (9); The flipping and lifting mechanism (5) is used to grab the cleaned drill rod (9) on the supporting mechanism (4).

4. The translational drill rod transport robot according to claim 3, wherein: The oiling mechanism (7) comprises two clamping jaws (71) and two first driving assemblies (72); The two first driving components (72) are respectively arranged on the upper and lower sides of the first cleaning mechanism (6) and are arranged in a one-to-one correspondence with the two clamping claws (71); The first end of the first driving component (72) is connected to the first cleaning mechanism (6), and the second end of the first driving component (72) is connected to the clamping claw (71); The two first drive assemblies (72) simultaneously drive the clamping jaws (71) to move toward each other so as to clamp the drill rod (9) in the circumferential direction of the male buckle; The clamping sides of the two clamping jaws (61) are provided with lubricating oil.

5. The translational drill rod transport robot according to claim 1, wherein: The support mechanism (4) comprises a support frame (41), a second drive assembly (42) and a drill rod moving assembly (43); The support frame (41) is located above the frame body (1), the support frame (41) is slidably connected to the frame body (1), the fixed end of the second driving component (42) is connected to the frame body (1), and the second driving component (42) drives the support frame (41) to move back and forth along the moving direction of the frame body (1); The drill rod moving assembly (43) is arranged on the support frame (41) to support the drill rod (9) and drive the drill rod (9) to move along its axial direction, thereby bringing the male buckle of the drill rod (9) close to the first clean buckle mechanism (6) or bringing the female buckle of the drill rod (9) close to the second clean buckle mechanism (6').

6. The translational drill rod transport robot according to claim 5, characterized in that: The drill rod moving assembly (43) includes an active rolling unit (431) and a driven rolling unit (432), wherein the active rolling unit (431) and the driven rolling unit (432) are arranged at intervals; The active rolling unit (431) comprises an active roller (4311) and a first driven roller (4312), and the rolling surfaces of the active roller (4311) and the first driven roller (4312) are arranged to form a V-shaped structure; The driven rolling unit (432) comprises a second driven roller (4321) and a third driven roller (4322), wherein the rolling surfaces of the second driven roller (4321) and the third driven roller (4322) are arranged to form a V-shaped structure; The two V-shaped structures support the drill rod (9), and when the active roller (4311) rotates, the drill rod (9) moves along its axial direction.

7. The translational drill rod transport robot according to claim 1, wherein: The flipping and lifting mechanism (5) comprises a lifting component (51), a flipping component (52) and a manipulator body (53); The lifting assembly (51) comprises a second telescopic member (511) and a parallelogram folding unit (512), the top edge of the parallelogram folding unit (512) being arranged in a horizontal orientation, and a driving end of the second telescopic member (511) being connected to one side of the parallelogram folding unit (512) so as to enable the parallelogram folding unit (512) to switch between a folded state and a lifted state; The flip assembly (52) is arranged on the parallelogram folding unit (512), and the rotating end of the flip assembly (52) is connected to the manipulator body (53) to drive the manipulator body (53) to switch between a horizontal state and a vertical state; When the second telescopic member (511) is in a retracted state, the parallelogram folding unit (512) is folded, and the flip assembly (52) drives the manipulator body (53) to be in a horizontal state to clamp the drill rod (9) horizontally arranged on the support mechanism (4); when the second telescopic member (511) is extended, the parallelogram folding unit (512) is in a lifted state, and the flip assembly (52) synchronously drives the manipulator body (53) to drive the drill rod (9) to flip to a vertical state.

8. The translational drill rod transport robot according to claim 7, wherein: The parallelogram folding unit (512) comprises a first connecting seat (5121), a second connecting seat (5122), a first connecting member (5123), a second connecting member (5124) and a third connecting member (5125); The first connecting member (5123) and the third connecting member (5125) are arranged in parallel and at intervals, and the first end of the first connecting member (5123) and the first end of the third connecting member (5125) are hinged to the first connecting seat (5121) and the second connecting seat (5122) respectively; The second connecting member (5124) is arranged in a horizontal orientation, the first end of the second connecting member (5124) is hinged to the second end of the first connecting member (5123), and the second end of the second connecting member (5124) is hinged to the second end of the third connecting member (5125); The driving end of the second telescopic member (511) is hinged to the first connecting member (5123); When the second telescopic member (511) is in a retracted state, the second connecting member (5124) and the third connecting member (5125) are folded above the first connecting member (5123), thereby reducing the overall height of the parallelogram folding unit (512).

9. The translational drill rod transport robot according to claim 8, wherein: The turning mechanism comprises a hinge frame (521), a pusher (522) and a turning plate (523); The hinged frame (521) is sleeved on the parallelogram folding unit (512), the bottom end of the hinged frame (521) is arranged parallel to the second connecting member (5124), and the two ends of the hinged frame (521) are respectively hinged to the first connecting member (5123) and the third connecting member (5125); The top end of the articulated frame (521) is higher than the second connecting member (5124), the articulated frame (521) is hinged to the first hinge point of the flip plate (523), the first end of the pushing member (522) is hinged to the second connecting member (5124), and the second end of the pushing member (522) is hinged to the second hinge point of the flip plate (523); The manipulator body (53) is arranged at the distal end of the flip plate (523) and is arranged vertically; When the second telescopic member (511) is extended, the pushing member (522) drives the flip plate (523) to rotate around the first hinge point, so that the manipulator body (53) switches from a horizontal state to a vertical state.

10. A translational drill pipe transportation method, characterized by: The translational drill pipe transport robot according to any one of claims 1 to 9 is used to transport the drill pipe by the following steps: S1, the moving mechanism (3) drives the frame (1) to move to the pipe stack; S2, the supporting mechanism (4) moves to a receiving position along a first side of the moving direction of the moving mechanism (3); S3, the grabbing mechanism (2) is capable of moving in a vertical direction to grab the drill pipe (9) in the pipe stack and place it on the supporting mechanism (4); S4, the supporting mechanism (4) moves along the second side of the moving direction of the moving mechanism (3); S5, the moving mechanism (3) drives the frame (1) to move to the vicinity of the drilling floor; S6. The flipping and lifting mechanism (5) is used to grab the horizontally placed drill rod (9) on the supporting mechanism (4) and lift and rotate it to a vertical state.

Images