Manipulator for grouting drilling fluid circulating short section

Abstract

The invention discloses a manipulator for grouting a drilling fluid circulating short section, which comprises a rotating device, a lower mounting seat fixedly connected to the lower part of the rotating device, an upper mounting seat fixedly connected to the upper part of the rotating device, a guide rail bracket mounted on the upper mounting seat, and a connecting pile slidably connected to the interior of the guide rail bracket, and further comprises a lifting hydraulic cylinder, the connecting pile is fixedly connected with a telescopic arm, the other end of the telescopic arm is fixedly connected with a connecting base, the upper portion of the connecting base is fixedly connected with a stand column, the stand column is sleeved with a rotating clamp, and the lower portion of the connecting base is fixedly connected with a clamping grouting device. A connecting pipeline of the clamping grouting device is arranged in the telescopic arm, and the clamping grouting device clamps a circulating short section. According to the manipulator for grouting the drilling fluid circulating short section, the problems that in the prior art, the installation workload is large, time consumption is long, efficiency is low, and the automation degree is low are solved.

Description

Technical Field

[0001] This invention belongs to the field of oil drilling equipment technology, specifically relating to a robotic arm for drilling fluid circulation short section grouting. Background Technology

[0002] Continuous circulation drilling fluid technology has shown good results in deep wells, ultra-deep wells, complex formation drilling, and offshore drilling. It can maintain stable wellbore pressure, control annular back pressure, maintain wellbore stability, and provide good wellbore cleaning, thus avoiding various complex situations such as wellbore collapse, lost circulation, blowout, and stuck pipe.

[0003] Existing continuous circulation drilling fluid technology mainly employs the installation of a continuous circulation sub on the tubing string. The continuous circulation sub has drill pipe male and female connectors at both ends, and a "gate"-like structure, similar to a plug valve, in the middle of the sub's sidewall. During normal drilling, drilling fluid enters the tubing string from the top drive center pipe. When connecting or disconnecting the tubing string, a union connector is installed on the sidewall of the circulation sub. A hose is connected to the union connector from the drilling rig valve assembly of the drilling fluid manifold. Drilling fluid enters from the sidewall of the circulation sub, opening the "gate"-like structure. The "gate" rotates 90° to block the upper part of the circulation sub, allowing drilling fluid to enter the tubing string from the sidewall. After connecting or disconnecting the tubing string, the hose and union connector are removed. Drilling fluid enters the tubing string from the top drive, opening the "gate"-like structure to 90° and blocking the sidewall of the circulation sub. This process achieves uninterrupted circulation of drilling fluid, maintaining the bottomhole fluid level and wellbore pressure. The main problem with the existing structure is that the installation of union joints and hoses takes a long time, and drilling fluid cannot be replenished to the bottom of the well in a timely manner, which poses certain safety risks; installing union joints by hand using tools is a large amount of work. Summary of the Invention

[0004] The purpose of this invention is to provide a robotic arm for drilling fluid circulation short section grouting, which solves the problems of large installation workload, long time consumption, low efficiency and low degree of automation in the prior art.

[0005] The technical solution adopted in this invention is a robotic arm for drilling fluid circulation sub grouting, including a rotary device, a lower mounting base fixedly connected to the lower part of the rotary device, an upper mounting base fixedly connected to the upper part of the rotary device, a guide rail frame mounted on the upper mounting base, a connecting pile slidably connected inside the guide rail frame, and a lifting cylinder, the cylinder end of the lifting cylinder being connected to the guide rail frame via an ear plate, the piston rod end of the lifting cylinder being fixedly connected to the connecting pile, a telescopic arm fixedly connected to the connecting pile, a connecting seat fixedly connected to the other end of the telescopic arm, a column fixedly connected to the upper part of the connecting seat, a rotating clamp sleeved on the column, a clamping grouting device fixedly connected to the lower part of the connecting seat, the connecting pipeline of the clamping grouting device being arranged inside the telescopic arm, and the clamping grouting device clamping the circulation sub.

[0006] The invention is further characterized by:

[0007] The clamping grouting device includes a conversion section, which is fixedly connected to a connecting seat. A flange section is fixedly connected to one end of the conversion section, and a grouting block is fixedly connected to the flange section. The other end of the conversion section is connected to clamping liquid cylinders via ear plates. The other ends of the two clamping liquid cylinders are connected to transition plates. The other ear holes of the two transition plates are connected to grippers that clamp the circulating section. Fixed plates are symmetrically arranged on the upper and lower sides of the grouting block. The two fixed plates are respectively provided with a first through hole and a second through hole. The two first through holes are fitted with the protruding cylinders at the ends of the clamping liquid cylinders. The two second through holes are fitted with the protruding cylinders of the transition plates. A first movable elbow is fixedly connected to one end of the conversion section. A first connecting pipe is fixedly connected to the other end of the first movable elbow. A third movable elbow is fixedly connected to the other end of the first connecting pipe. A second connecting pipe is fixedly connected to the other end of the third movable elbow. A second movable elbow is fixedly connected to the other end of the second connecting pipe.

[0008] The first, second, and third movable elbows are all fitted with ball bearings, and each of them can rotate at any angle.

[0009] The inside of the grouting block is engraved with protrusions, and the circulation short section has a connection port, into which the protrusions are inserted.

[0010] Both ends of the circulation short section are drill pipe joints, and the cross-section of the circulation short section has a "gate" shaped structure.

[0011] The rotary clamp includes a mounting housing, on which a first cylinder and a second cylinder are fixedly connected. A first crank is sleeved on the first cylinder, and a second crank is sleeved on the second cylinder. It also includes a bidirectional hydraulic cylinder and a synchronizing plate. One end of the first crank is hinged to the piston rod lug of the bidirectional hydraulic cylinder, and the other end of the first crank is hinged to a right roller unit. One end of the second crank is hinged to the cylinder barrel end of the bidirectional hydraulic cylinder, and the other end of the second crank is hinged to a left roller unit. The synchronizing plate has a "V" shaped cross section, and its two ends are symmetrically hinged to the first crank and the second crank, respectively. The middle part of the synchronizing plate is hinged to the mounting housing.

[0012] Both the left and right roller units are equipped with two sets of rollers, and the two sets of roller shafts in the right roller unit are fixedly connected to hydraulic motors.

[0013] The telescopic boom includes a second mounting base, which is fixedly connected to a connecting pile. A first connecting rod and a second connecting rod are respectively hinged to the second mounting base. The other ends of the first connecting rod and the second connecting rod are jointly hinged to a transition connecting seat. The transition connecting seat is respectively hinged to a third connecting rod and a fourth connecting rod. The other ends of the third connecting rod and the fourth connecting rod are jointly hinged to a first mounting base. The first mounting base is fixedly connected to the connecting seat. It also includes an extension cylinder. The cylinder barrel end of the extension cylinder is hinged to the second connecting rod through an ear plate, and the piston rod end of the extension cylinder is hinged to the third connecting rod.

[0014] The rotary device includes a reducer, with a motor fixedly connected to one end of the reducer and a rotary reducer fixedly connected to the other end. The outer ring of the rotary reducer is connected to the upper mounting base, and the inner ring of the rotary reducer is connected to the lower mounting base.

[0015] The outer ring of the rotary reducer rotates, while the inner ring of the rotary reducer remains stationary.

[0016] The beneficial effects of this invention are:

[0017] The robotic arm for grouting drilling fluid circulation subsegments provided by this invention, when connecting and disconnecting the tubing string, disconnects the drilling fluid circulation from the top drive device by switching the drilling platform valve group of the drilling fluid manifold. A hose is connected from the drilling platform valve group to the robotic arm, which extends to the wellhead position. Through height and angle adjustments, the protrusion of the grouting block is inserted into the interface of the circulation subsegment. The two grippers on both sides of the grouting block extend through the hydraulic cylinder to form a closed gripping state, creating pre-tightening force to ensure a tight seal. Drilling fluid is injected from the side wall of the circulation subsegment, opening and rotating the internal "door"-shaped structure by 90°. The "door" seals the upper part of the circulation subsegment, allowing drilling fluid to be injected from the lower part, ensuring uninterrupted drilling fluid circulation, maintaining the bottom hole fluid level and pressure, and preventing accidents such as well leakage, blowouts, and wellbore collapse. The entire process is automated, improving efficiency and promptly replacing the gap caused by the normal disconnection of drilling fluid circulation, ensuring drilling operation safety. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of the robotic arm used for drilling fluid circulation short section grouting according to the present invention;

[0019] Figure 2 This is a top view of the present invention;

[0020] Figure 3 This is a diagram showing the retracted state of the robotic arm used for drilling fluid circulation sub-grouting according to the present invention;

[0021] Figure 4 This is a schematic diagram of the structure of the clamping grouting device of the present invention;

[0022] Figure 5 yes Figure 4 A magnified view of a section of section I;

[0023] Figure 6 This is a top view of the clamping grouting device of the present invention;

[0024] Figure 7 yes Figure 6 Enlarged view of a section of section II;

[0025] Figure 8 This is a schematic diagram of the clamping grouting device and the connection of the circulating short section of the present invention;

[0026] Figure 9 yes Figure 8 Enlarged view of a section of section III;

[0027] Figure 10 This is a schematic diagram of the rotating clamp of the present invention;

[0028] Figure 11 This is a schematic diagram of the telescopic arm of the present invention;

[0029] Figure 12 This is a schematic diagram of the structure of the invented rotary device.

[0030] In the diagram, 1. Grouting clamping device, 2. Rotating clamp, 3. Connecting seat, 4. Telescopic arm, 5. Connecting pile, 6. Lifting cylinder, 7. Guide rail frame, 8. Upper mounting seat, 9. Rotating device, 10. Lower mounting seat, 11. Flange section, 12. Clamping cylinder, 13. Fixing plate, 14. Transition plate, 15. Claw, 16. Grouting block, 17. Transition section, 18. First movable elbow, 19. First connecting pipe, 20. Second connecting pipe, 21. Second movable elbow, 22. Circulation section, 23. 24. Connecting port, 25. Mounting housing, 26. Double-acting hydraulic cylinder, 27. Crank, 28. Synchronizing plate, 29. Left roller unit, 20. Right roller unit, 31. First connecting rod, 32. Second connecting rod, 33. Transition connecting seat, 34. Third connecting rod, 35. Fourth connecting rod, 36. Extending hydraulic cylinder, 37. First mounting seat, 38. Second mounting seat, 39. Reducer, 40. Rotary reducer, 41. Motor, 42. Tube column, 43. Saddle seat, 44. Third movable elbow, 45. Second crank. Detailed Implementation

[0031] The specific embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0032] The robotic arm for drilling fluid circulation sub-grouting provided by this invention, such as... Figure 1-3 As shown, the device includes a rotary device 9, the lower part of which is connected to a lower mounting base 10, and the upper part of which is connected to an upper mounting base 8. A guide rail frame 7 is mounted on the upper mounting base 8, and a connecting pile 5 is embedded inside the guide rail frame 7. The cylinder end of a lifting cylinder 6 is connected to the guide rail frame 7 via an ear plate, and the piston rod end of the lifting cylinder 6 is connected to the connecting pile 5. As the lifting cylinder 6 extends and retracts, it causes the connecting pile 5 to slide inside the guide rail frame 7, thereby driving the entire device to rise and fall. The connecting pile 5 is connected to one end of a telescopic arm 4, and the other end of the telescopic arm 4 is connected to a connecting seat 3. A column is fixed to the upper part of the connecting seat 3, and a rotating clamp 2 is mounted on the column. A clamping grouting device 1 is connected to the end of the connecting seat 3, and the connecting pipeline of the clamping grouting device 1 is arranged inside the telescopic arm 4. Figure 4 , 5As shown, the clamping grouting device 1 includes a conversion section 17. One end of the conversion section 17 is a flange, and the other end is connected by a union. The flange end is bolted to the flange section 11, and the flange section 11 is bolted to the grouting block 16. Connecting plates are welded to both sides of the flange of the conversion section 17. One side of the connecting plate is connected to the connecting seat 3, and the other end is connected to the clamping liquid cylinders 12 through ear plates. The other ends of the two clamping liquid cylinders 12 are connected to the transition plates 14. The other ear holes of the two transition plates 14 are connected to the claws 15. Fixed plates 13 are arranged on opposite sides of the upper and lower parts of the grouting block 16. The fixed plates 13 are provided with a first through hole and a second through hole. A through hole is fitted with a protruding cylindrical part at the end of the clamping cylinder 12 to fix the clamping cylinder 12. Two second through holes are fitted with protruding cylindrical parts of the transition plate 14. When the clamping cylinder 12 extends, the transition plate 14 rotates along the cylinder, causing the two grippers 15 to rotate into a closed gripping state. The union end of the conversion section 17 is connected to the first movable elbow 18, the first movable elbow 18 is connected to the first connecting pipe 19, the first connecting pipe 19 is connected to the third movable elbow 43, the other end of the third movable elbow 43 is connected to the second connecting pipe 20, and the second connecting pipe 20 is connected to the second movable elbow 21. Figure 6 , 7 As shown, ball bearings are embedded inside the first movable elbow 18, the second movable elbow 21, and the third movable elbow 43. All three can rotate at any angle. When the robotic arm is extended or retracted, the connecting pipeline folds along with the telescopic arm 4. Figure 8 , 9 As shown, the grouting block 16 contacts the side wall of the circulation sub 22. The grouting block 16 has protrusions engraved inside, which are inserted into the connection port 23 of the circulation sub 22. The clamping claws 15 create a pre-tightening force through clamping, ensuring a tight seal. The two ends of the circulation sub 22 are male and female drill pipe connectors, with an internal "door"-shaped structure. Drilling fluid is injected from the side wall of the circulation sub 22 through the grouting block 16. The "door" is then opened and rotated 90°, sealing the upper part of the circulation sub 22, while drilling fluid is injected from the lower part. Figure 10As shown, the rotating clamp 2 includes a mounting housing 24. The mounting housing 24 is fitted onto the upper column of the connecting seat 3 at both ends for mounting the rotating clamp 2. The mounting housing 24 has a first cylinder and a second cylinder. A first crank 26 is fitted onto the first cylinder, and a second crank 44 is fitted onto the second cylinder. One end of the first crank 26 is hinged to the piston rod lug of the bidirectional hydraulic cylinder 25, and the other end of the first crank 26 is hinged to a right roller unit 29. One end of the second crank 44 is hinged to the cylinder end of the bidirectional hydraulic cylinder 25, and the other end of the second crank 44 is hinged to a left roller unit 28. The synchronizing plate 27 has a "V" shaped cross-section. Both ends of the synchronizing plate 27 are symmetrically hinged to the first crank 26 and the second crank 44, respectively. The middle of the synchronizing plate 27 is hinged to the mounting housing 24. The piston rods at both ends of the bidirectional hydraulic cylinder 25 extend and drive the first crank 26 and the second crank 44... Rotating 44, the first crank 26 and the second crank 44 drive the left roller unit 28 and the right roller unit 29 to a closed-off state. The synchronization plate 27 ensures that the first crank 26 and the second crank 44 rotate synchronously. The left roller unit 28 has two sets of rollers, with bearing seats at both ends. The shaft is connected to the bearings, and the shaft is connected to the rollers by a key. The right roller unit 29 differs from the left roller unit 28 in that one end of the shaft extends out of the bearing seat, and the shaft end is connected to the hydraulic motor. The hydraulic motor drives the rollers to rotate, but the other structures are the same. When the left roller unit 28 and the right roller unit 29 are in a closed-off state, they hold the drill pipe joint of the circulating short section 22. The right roller unit 29 rotates actively, and the left roller unit 28 rotates passively, driving the circulating short section 22 to rotate at a certain angle, so that the grouting block 16 can be aligned with the side wall of the circulating short section 22. Figure 11 As shown, the telescopic boom 4 includes a second mounting base 37, which is connected to the connecting pile 5. The second mounting base 37 has two pin holes, which are respectively connected to one end of the first connecting rod 30 and the second connecting rod 31. The other ends of the first connecting rod 30 and the second connecting rod 31 are connected to the transition connecting seat 32. The pin holes at the other end of the transition connecting seat 32 are respectively connected to the third connecting rod 33 and the fourth connecting rod 34. The other ends of the third connecting rod 33 and the fourth connecting rod 34 are respectively connected to the first mounting base 36. The first mounting base 36 is connected to the connecting seat 3. The extension cylinders 35 are symmetrically arranged. The end of the cylinder is connected to the second connecting rod 31 by an ear plate, and the end of the piston rod is connected to the third connecting rod 33 by an ear plate. When the extension cylinders 35 extend, they drive the entire linkage mechanism to extend. Figure 12 As shown, the rotary device 9 includes a reducer 38. One end of the reducer 38 is connected to the motor 40, and the other end is connected to the rotary reducer 39. The outer ring of the rotary reducer 39 rotates and is connected to the upper mounting base 8. The inner ring is fixedly connected to the lower mounting base 10. The motor 40 drives the outer ring of the rotary reducer 39 to rotate through the reducer 38, thereby driving the entire robotic arm device to rotate.

[0033] The working principle of the robotic arm for drilling fluid circulation grouting provided by the present invention is as follows: it is arranged on the drilling platform of the oil drilling rig, and a square hole is left on the drilling platform. The square tube of the lower mounting base 10 is inserted into the hole for fixation. Above the robotic arm, a saddle seat 42 is suspended on the derrick. The hose connected from the manifold valve group passes through the saddle seat 42 and is connected to the joint of the second movable elbow 21 to supply drilling fluid. The hydraulic hose line connected from the hydraulic station passes through the saddle seat 42 to the valve group of the robotic arm, and the valve group supplies fluid to the hydraulic equipment. The cable line taken from the control box passes through the saddle seat 42 to supply power to the motor 40.

[0034] When the top drive unit, carrying the tubing string 41, descends to a suitable position on the drilling platform, and the tubing string 41 is seated on the wellhead slips, the connection between the tubing string 41 and the circulation sub 22 needs to be disconnected. By adjusting the valves of the drilling platform manifold valve group, the drilling fluid entering the tubing string 41 is cut off. The motor 40 drives the outer ring of the rotary reducer 39 to rotate through the reducer 38, thereby driving the entire robotic arm device to rotate from the standby position to face the wellhead. When the extension cylinder 35 extends, it drives the entire linkage mechanism to extend, so that the grouting block 16 at the front end contacts the side wall of the circulation sub 22. When there is vertical misalignment, the extension and retraction of the lifting cylinder 6 drives the connecting pile 5 to slide inside the guide rail frame 7, thereby driving the entire device to rise and fall to align the interface. When there is angular misalignment, the piston rods at both ends of the bidirectional cylinder 25 extend, driving the first crank 26 and the second crank 44 to rotate. The first crank 26 and the second crank 44 drive the left roller. Subunit 28 and right roller 29 are in a closed embrace, holding the drill pipe joint of the circulation sub 22. The rotation of right roller unit 29 drives the circulation sub 22 to rotate at a certain angle, making it easier for the grouting block 16 to align with the side wall of the circulation sub 22. The protrusion of the grouting block 16 is inserted into the connection port 23 of the circulation sub 22. When the clamping cylinder 12 extends, the transition plate 14 rotates along the cylinder. The transition plate 14 drives the clamping claw 15 to rotate into a closed embrace. The clamping claw 15 forms a pre-tightening force through the closed embrace to ensure a tight seal. The drilling fluid is transferred from the manifold valve group to the second movable elbow 21 and then to the grouting block 16, injecting the drilling fluid from the side wall of the circulation sub 22. The "door" is opened and rotated 90°, sealing the upper part of the circulation sub 22. The drilling fluid is injected from the lower part, ensuring uninterrupted circulation of the drilling fluid, maintaining the bottom fluid level, maintaining the bottom pressure, and preventing accidents such as well leakage, blowout, and well wall collapse. After the tubing string 41 is connected and disconnected, drilling fluid enters from the top drive device, opening the "door" of the circulation sub 22 and rotating it 90°. The "door" seals the side wall of the circulation sub 22, the clamping cylinder 12 retracts, the transition plate 14 rotates along the cylinder, the transition plate 14 drives the gripper 15 to rotate into the open state, the telescopic arm 4 retracts into the folded state, and the rotary device 9 drives the entire device to rotate to the standby position.

[0035] Example 1

[0036] The robotic arm for drilling fluid circulation short section grouting proposed in this embodiment, such as Figure 1-3 As shown, the device includes a rotary device 9, with a lower mounting base 10 fixedly connected to the lower part of the rotary device 9 and an upper mounting base 8 fixedly connected to the upper part of the rotary device 9. A guide rail frame 7 is mounted on the upper mounting base 8, and a connecting pile 5 is slidably connected inside the guide rail frame 7. It also includes a lifting cylinder 6, with the cylinder end of the lifting cylinder 6 connected to the guide rail frame 7 via an ear plate. The piston rod end of the lifting cylinder 6 is fixedly connected to the connecting pile 5. A telescopic arm 4 is fixedly connected to the connecting pile 5, and a connecting seat 3 is fixedly connected to the other end of the telescopic arm 4. A column is fixedly connected to the upper part of the connecting seat 3, and a rotating clamp 2 is sleeved on the column. A clamping grouting device 1 is fixedly connected to the lower part of the connecting seat 3. The connecting pipeline of the clamping grouting device 1 is arranged inside the telescopic arm 4, and the clamping grouting device 1 clamps a circulating short section 22. Figure 4 , 5 The clamping grouting device 1 includes a conversion section 17, which is fixedly connected to the connecting seat 3. One end of the conversion section 17 is fixedly connected to a flange section 11, which is fixedly connected to a grouting block 16. The other end of the conversion section 17 is connected to clamping cylinders 12 via ear plates. Each clamping cylinder 12 has a transition plate 14 connected to its other end. Each transition plate 14 has a clamping claw 15 connected to its other ear hole. The clamping claw 15 clamps a circulating section 22. The grouting block 16 has fixing plates 13 arranged symmetrically on its upper and lower sides. The 3 section is provided with a first through hole and a second through hole respectively. The two first through holes are fitted with a cylindrical protrusion at the end of the clamping cylinder 12. The two second through holes are fitted with a cylindrical protrusion at the end of the transition plate 14. The transition section 17 is fixedly connected to a first movable elbow 18 at one end. The other end of the first movable elbow 18 is fixedly connected to a first connecting pipe 19. The other end of the first connecting pipe 19 is fixedly connected to a third movable elbow 43. The other end of the third movable elbow 43 is fixedly connected to a second connecting pipe 20. The other end of the second connecting pipe 20 is fixedly connected to a second movable elbow 21. Figure 6 , 7 As shown, ball bearings are embedded in the first movable elbow 18, the second movable elbow 21, and the third movable elbow 43, and each of these elbows can rotate at any angle; Figure 8 , 9 As shown, the grouting block 16 has protrusions engraved inside, and the circulation short section 22 has a connection port 23, into which the protrusions are inserted; both ends of the circulation short section 22 are drill pipe joints, and the cross-section of the circulation short section 22 has a "door" shaped structure.

[0037] Example 2

[0038] The robotic arm for drilling fluid circulation short section grouting proposed in this embodiment, such as Figure 1-3As shown, the device includes a rotary device 9, with a lower mounting base 10 fixedly connected to the lower part of the rotary device 9 and an upper mounting base 8 fixedly connected to the upper part of the rotary device 9. A guide rail frame 7 is mounted on the upper mounting base 8, and a connecting pile 5 is slidably connected inside the guide rail frame 7. It also includes a lifting cylinder 6, with the cylinder end of the lifting cylinder 6 connected to the guide rail frame 7 via an ear plate. The piston rod end of the lifting cylinder 6 is fixedly connected to the connecting pile 5. A telescopic arm 4 is fixedly connected to the connecting pile 5, and a connecting seat 3 is fixedly connected to the other end of the telescopic arm 4. A column is fixedly connected to the upper part of the connecting seat 3, and a rotating clamp 2 is sleeved on the column. A clamping grouting device 1 is fixedly connected to the lower part of the connecting seat 3. The connecting pipeline of the clamping grouting device 1 is arranged inside the telescopic arm 4, and the clamping grouting device 1 clamps a circulating short section 22. Figure 4 , 5 The clamping grouting device 1 includes a conversion section 17, which is fixedly connected to the connecting seat 3. One end of the conversion section 17 is fixedly connected to a flange section 11, which is fixedly connected to a grouting block 16. The other end of the conversion section 17 is connected to clamping cylinders 12 via ear plates. Each clamping cylinder 12 has a transition plate 14 connected to its other end. Each transition plate 14 has a clamping claw 15 connected to its other ear hole. The clamping claw 15 clamps a circulating section 22. The grouting block 16 has fixing plates 13 arranged symmetrically on its upper and lower sides. The 3 section is provided with a first through hole and a second through hole respectively. The two first through holes are fitted with a cylindrical protrusion at the end of the clamping cylinder 12. The two second through holes are fitted with a cylindrical protrusion at the end of the transition plate 14. The transition section 17 is fixedly connected to a first movable elbow 18 at one end. The other end of the first movable elbow 18 is fixedly connected to a first connecting pipe 19. The other end of the first connecting pipe 19 is fixedly connected to a third movable elbow 43. The other end of the third movable elbow 43 is fixedly connected to a second connecting pipe 20. The other end of the second connecting pipe 20 is fixedly connected to a second movable elbow 21. Figure 6 , 7 As shown, ball bearings are embedded in the first movable elbow 18, the second movable elbow 21, and the third movable elbow 43, and each of these elbows can rotate at any angle; Figure 8 , 9 As shown, the grouting block 16 has protrusions engraved inside, and the circulation sub 22 has a connection port 23, into which the protrusions are inserted; both ends of the circulation sub 22 are drill pipe joints, and the cross-section of the circulation sub 22 has a "gate" shaped structure. Figure 10As shown, the rotating clamp 2 includes a mounting housing 24, on which a first cylinder and a second cylinder are fixedly connected. A first crank 26 is sleeved on the first cylinder, and a second crank 44 is sleeved on the second cylinder. It also includes a bidirectional hydraulic cylinder 25 and a synchronizing plate 27. One end of the first crank 26 is hinged to the piston rod lug of the bidirectional hydraulic cylinder 25, and the other end of the first crank 26 is hinged to a right roller unit 29. One end of the second crank 44 is hinged to the cylinder end of the bidirectional hydraulic cylinder 25, and the other end of the second crank 44 is hinged to a left roller unit 28. The synchronizing plate 27 has a "V" shaped cross section. Both ends of the synchronizing plate 27 are symmetrically hinged to the first crank 26 and the second crank 44, respectively, and the middle part of the synchronizing plate 27 is hinged to the mounting housing 24. The left roller unit 28 and the right roller unit 29 are each provided with two sets of rollers. The two sets of roller shafts of the right roller unit 29 are both fixedly connected to a hydraulic motor.

[0039] Example 3

[0040] The robotic arm for drilling fluid circulation short section grouting proposed in this embodiment, such as Figure 1-3 As shown, the device includes a rotary device 9, with a lower mounting base 10 fixedly connected to the lower part of the rotary device 9 and an upper mounting base 8 fixedly connected to the upper part of the rotary device 9. A guide rail frame 7 is mounted on the upper mounting base 8, and a connecting pile 5 is slidably connected inside the guide rail frame 7. It also includes a lifting cylinder 6, with the cylinder end of the lifting cylinder 6 connected to the guide rail frame 7 via an ear plate. The piston rod end of the lifting cylinder 6 is fixedly connected to the connecting pile 5. A telescopic arm 4 is fixedly connected to the connecting pile 5, and a connecting seat 3 is fixedly connected to the other end of the telescopic arm 4. A column is fixedly connected to the upper part of the connecting seat 3, and a rotating clamp 2 is sleeved on the column. A clamping grouting device 1 is fixedly connected to the lower part of the connecting seat 3. The connecting pipeline of the clamping grouting device 1 is arranged inside the telescopic arm 4, and the clamping grouting device 1 clamps a circulating short section 22. Figure 4 , 5 As shown, the clamping grouting device 1 includes a conversion section 17, which is fixedly connected to the connecting seat 3. One end of the conversion section 17 is fixedly connected to a flange section 11, and a grouting block 16 is fixedly connected to the flange section 11. The other end of the conversion section 17 is connected to clamping liquid cylinders 12 via ear plates. The other ends of the two clamping liquid cylinders 12 are each connected to transition plates 14. The other ear holes of the two transition plates 14 are each connected to a gripper 15, which clamps the circulating section 22. The grouting block 16 is symmetrically arranged with fixing plates 13 on its upper and lower sides. The two fixing plates 13... The 3 section is provided with a first through hole and a second through hole respectively. The two first through holes are fitted with a cylindrical protrusion at the end of the clamping cylinder 12. The two second through holes are fitted with a cylindrical protrusion at the end of the transition plate 14. The transition section 17 is fixedly connected to a first movable elbow 18 at one end. The other end of the first movable elbow 18 is fixedly connected to a first connecting pipe 19. The other end of the first connecting pipe 19 is fixedly connected to a third movable elbow 43. The other end of the third movable elbow 43 is fixedly connected to a second connecting pipe 20. The other end of the second connecting pipe 20 is fixedly connected to a second movable elbow 21. Figure 6 , 7As shown, ball bearings are embedded in the first movable elbow 18, the second movable elbow 21, and the third movable elbow 43, and each of these elbows can rotate at any angle; Figure 8 , 9 As shown, the grouting block 16 has protrusions engraved inside, and the circulation sub 22 has a connection port 23, into which the protrusions are inserted; both ends of the circulation sub 22 are drill pipe joints, and the cross-section of the circulation sub 22 has a "gate" shaped structure. Figure 10 As shown, the rotating clamp 2 includes a mounting housing 24, on which a first cylinder and a second cylinder are fixedly connected. A first crank 26 is sleeved on the first cylinder, and a second crank 44 is sleeved on the second cylinder. It also includes a bidirectional hydraulic cylinder 25 and a synchronizing plate 27. One end of the first crank 26 is hinged to the piston rod lug of the bidirectional hydraulic cylinder 25, and the other end of the first crank 26 is hinged to a right roller unit 29. One end of the second crank 44 is hinged to the cylinder end of the bidirectional hydraulic cylinder 25, and the other end of the second crank 44 is hinged to a left roller unit 28. The synchronizing plate 27 has a "V" shaped cross-section, with both ends symmetrically hinged to the first crank 26 and the second crank 44, respectively. The middle part of the synchronizing plate 27 is hinged to the mounting housing 24. Both the left roller unit 28 and the right roller unit 29 have two sets of rollers, and the two sets of roller shafts of the right roller unit 29 are fixedly connected to hydraulic motors. Figure 11 As shown, the telescopic boom 4 includes a second mounting base 37, which is fixedly connected to the connecting pile 5. A first connecting rod 30 and a second connecting rod 31 are respectively hinged to the second mounting base 37. The other ends of the first connecting rod 30 and the second connecting rod 31 are jointly hinged to a transition connecting seat 32. The transition connecting seat 32 is respectively hinged to a third connecting rod 33 and a fourth connecting rod 34. The other ends of the third connecting rod 33 and the fourth connecting rod 34 are jointly hinged to a first mounting base 36, which is fixedly connected to the connecting base 3. It also includes an extension cylinder 35. The cylinder end of the extension cylinder 35 is hinged to the second connecting rod 31 via a lug plate, and the piston rod end of the extension cylinder 35 is hinged to the third connecting rod 33. Figure 12 As shown, the rotary device 9 includes a reducer 38, one end of which is fixedly connected to a motor 40, and the other end of which is fixedly connected to a rotary reducer 39. The outer ring of the rotary reducer 39 is connected to the upper mounting base 8, and the inner ring of the rotary reducer 39 is connected to the lower mounting base 10. The outer ring of the rotary reducer 39 rotates, while the inner ring of the rotary reducer 39 remains fixed.

Claims

1. A robotic arm for drilling fluid circulation sub-section grouting, characterized in that, The system includes a rotary device (9), with a lower mounting base (10) fixedly connected to the lower part of the rotary device (9) and an upper mounting base (8) fixedly connected to the upper part of the rotary device (9). A guide rail frame (7) is mounted on the upper mounting base (8), and a connecting pile (5) is slidably connected inside the guide rail frame (7). The system also includes a lifting cylinder (6), with the cylinder end of the lifting cylinder (6) connected to the guide rail frame (7) via an ear plate, and the piston rod end of the lifting cylinder (6) connected to the connecting pile (5). The connecting pile (5) is fixedly connected, and the connecting pile (5) is fixedly connected to a telescopic arm (4). The other end of the telescopic arm (4) is fixedly connected to a connecting seat (3). The upper part of the connecting seat (3) is fixedly connected to a column. The column is fitted with a rotating clamp (2). The lower part of the connecting seat (3) is fixedly connected to a clamping grouting device (1). The connecting pipeline of the clamping grouting device (1) is arranged inside the telescopic arm (4). The clamping grouting device (1) clamps a circulating short section (22).

2. The robotic arm for drilling fluid circulation sub-section grouting according to claim 1, characterized in that, The clamping grouting device (1) includes a conversion section (17), which is fixedly connected to the connecting seat (3). One end of the conversion section (17) is fixedly connected to a flange section (11), and the flange section (11) is fixedly connected to a grouting block (16). The other end of the conversion section (17) is connected to clamping liquid cylinders (12) via ear plates. The other ends of the two clamping liquid cylinders (12) are each connected to a transition plate (14). The other ear holes of the two transition plates (14) are each connected to a claw (15). The claw (15) clamps the circulating section (22). The grouting block (16) has fixing plates (13) arranged symmetrically on its upper and lower sides. The fixing plate (13) is provided with a first through hole and a second through hole respectively. The two first through holes are fitted with the cylindrical protrusions at the end of the cylinder of the clamping liquid cylinder (12). The two second through holes are fitted with the cylindrical protrusions at the end of the transition plate (14). The conversion short section (17) is fixedly connected to a first movable elbow (18) at one end. The first movable elbow (18) is fixedly connected to a first connecting pipe (19) at the other end. The first connecting pipe (19) is fixedly connected to a third movable elbow (43) at the other end. The third movable elbow (43) is fixedly connected to a second connecting pipe (20) at the other end. The second connecting pipe (20) is fixedly connected to a second movable elbow (21) at the other end.

3. The robotic arm for drilling fluid circulation sub-section grouting according to claim 2, characterized in that, The first movable elbow (18), the second movable elbow (21) and the third movable elbow (43) are all inlaid with ball bearings, and the first movable elbow (18), the second movable elbow (21) and the third movable elbow (43) can rotate at any angle.

4. The robotic arm for drilling fluid circulation sub-section grouting according to claim 3, characterized in that, The grouting block (16) has protrusions engraved inside, and the circulating short section (22) has a connection port (23), into which the protrusions are inserted.

5. The robotic arm for drilling fluid circulation sub-section grouting according to claim 4, characterized in that, Both ends of the circulation short section (22) are drill pipe joints, and the cross section of the circulation short section (22) has a "door" shaped structure.

6. The robotic arm for drilling fluid circulation sub-section grouting according to claim 5, characterized in that, The rotating clamp (2) includes a mounting housing (24), on which a first cylinder and a second cylinder are fixedly connected. A first crank (26) is sleeved on the first cylinder, and a second crank (44) is sleeved on the second cylinder. It also includes a bidirectional hydraulic cylinder (25) and a synchronizing plate (27). One end of the first crank (26) is hinged to the piston rod lug of the bidirectional hydraulic cylinder (25), and the other end of the first crank (26) is hinged to a right roller unit (29). One end of the second crank (44) is hinged to the cylinder end of the bidirectional hydraulic cylinder (25), and the other end of the second crank (44) is hinged to a left roller unit (28). The synchronizing plate (27) has a "V" shaped cross section. Both ends of the synchronizing plate (27) are symmetrically hinged to the first crank (26) and the second crank (44) respectively, and the middle part of the synchronizing plate (27) is hinged to the mounting housing (24).

7. The robotic arm for drilling fluid circulation sub-section grouting according to claim 6, characterized in that, Both the left roller unit (28) and the right roller unit (29) are provided with two sets of rollers, and the two sets of roller shafts of the right roller unit (29) are fixedly connected to hydraulic motors.

8. The robotic arm for drilling fluid circulation sub-section grouting according to claim 7, characterized in that, The telescopic arm (4) includes a second mounting base (37), which is fixedly connected to the connecting pile (5). A first connecting rod (30) and a second connecting rod (31) are respectively hinged on the second mounting base (37). The other ends of the first connecting rod (30) and the second connecting rod (31) are jointly hinged to a transition connecting seat (32). The transition connecting seat (32) is respectively hinged to a third connecting rod (33) and a fourth connecting rod (34). The other ends of the third connecting rod (33) and the fourth connecting rod (34) are jointly hinged to a first mounting base (36). The first mounting base (36) is fixedly connected to the connecting base (3). The telescopic arm (4) also includes an extension cylinder (35). The cylinder end of the extension cylinder (35) is hinged to the second connecting rod (31) through an ear plate. The piston rod end of the extension cylinder (35) is hinged to the third connecting rod (33).

9. The robotic arm for drilling fluid circulation sub-section grouting according to claim 8, characterized in that, The rotary device (9) includes a reducer (38), one end of which is fixedly connected to a motor (40), and the other end of which is fixedly connected to a rotary reducer (39). The outer ring of the rotary reducer (39) is connected to the upper mounting base (8), and the inner ring of the rotary reducer (39) is connected to the lower mounting base (10).

10. The robotic arm for drilling fluid circulation sub-section grouting according to claim 9, characterized in that, The outer ring of the rotary reducer (39) rotates, while the inner ring of the rotary reducer (39) is fixed.

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