Multi-degree-of-freedom drilling rod grabbing mechanical arm for underground drilling machine

Abstract

The multi-degree-of-freedom drill rod grabbing mechanical arm comprises a ground rail structure, a lifting structure is arranged on the ground rail structure, an arm body structure is arranged on the lifting structure, the arm body structure comprises a fixed arm and an operating arm, and a two-way adjusting structure is arranged at the end of the operating arm; on the basis that the arm body structure is adopted for adjustment, the two-way adjusting structure is arranged, the two-way adjusting structure adopts two rotating structures, the position of the drill rod can be flexibly adjusted during transferring, in this way, all obstacles can be flexibly avoided, the optimal path can be found, and the drill rod is more convenient to transfer; according to the grabbing structure, the two clamp assemblies are adopted for clamping and grabbing the drill rod, the fixed clamp assembly and the movable clamp assembly are adopted, in this way, after the drill rod is grabbed, the position of the drill rod can be adjusted, in this way, the grabbing position of the drill rod can be adjusted while the drill rod is transferred, and the time period of grabbing the drill rod at a time is shortened.

Description

Technical Field

[0001] This invention relates to the field of automated drilling rig technology, specifically to a multi-degree-of-freedom drill rod gripping robotic arm for downhole drilling rigs. Background Technology

[0002] The drill pipe gripping robotic arm, also known as a drilling rig robot, is a crucial component of automated drilling rigs. It acts as the "transferrer" and "middleman" in the automated drill pipe handling process, connecting the tool storage area and the work area. It serves as the logistics hub of automated drilling and, along with the iron drill and top drive, is a major component of the automated drilling rig. Its function is to transfer all heavy tools such as drill pipes and casing between the storage area and the wellhead. Current drill pipe gripping robotic arms consist of a movable arm and grippers. The arm's movement is relatively simple, possessing basic steering capabilities. For example, Chinese invention application CN108547584A discloses a drilling rig robot. The horizontal moving guide rail is fixedly connected to the drill platform surface, and the slewing bearing is installed on the horizontal moving guide rail. The vertically arranged vertical moving guide rail is connected to the slewing bearing. The moving slider is installed inside the vertical moving guide rail. The fixed end and movable end of the first hydraulic cylinder are fixedly connected to the vertical moving guide rail and the moving slider, respectively. The bottom of the inner moving arm is hinged to the moving slider. The fixed end and movable end of the second hydraulic cylinder are hinged to the moving slider and the lower middle part of the inner moving arm, respectively. The top of the inner moving arm is hinged to the top of the upper part of the moving arm. The fixed end of the third hydraulic cylinder is hinged to the upper part of the inner moving arm, and the movable end of the third hydraulic cylinder is hinged to the middle of the upper part of the moving arm. However, the current drill pipe gripping robotic arm has the following defects:

[0003] Current drill pipe gripping robotic arms have poor flexibility. Although their function is simple, requiring only the transfer of drill pipes, the lack of arm flexibility makes them less suitable for actual use. Drilling rigs are extremely cramped, with various equipment such as derricks, top drives, steel drills, finger beams, and riser boxes. Often, the transfer path is obstructed, requiring the steel drills to move frequently to complete the drill pipe transfer. Furthermore, current drill pipe gripping robotic arms cannot adjust the gripping position after gripping the drill pipe, while high precision is required to accurately deliver the end effector of the drill pipe within a small tolerance range each time. This necessitates precise position adjustments when gripping drill pipes in the storage area, which takes time and increases the overall drill pipe handling process time.

[0004] To address these issues, we propose a multi-degree-of-freedom drill pipe gripping robotic arm for downhole drilling rigs. Summary of the Invention

[0005] The purpose of this invention is to provide a multi-degree-of-freedom drill pipe gripping robotic arm for downhole drilling rigs, in order to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a multi-degree-of-freedom drill rod gripping robotic arm for downhole drilling rigs, comprising a ground rail structure, a lifting structure provided on the ground rail structure, an arm structure provided on the lifting structure, the arm structure comprising a fixed arm and an operating arm, a bidirectional adjustment structure provided at the end of the operating arm, and a gripping structure provided on the bidirectional adjustment structure;

[0007] The bidirectional adjustment structure includes a top frame plate, one end of which is vertically fixed to the top of a side frame plate. The bidirectional adjustment structure also includes a top platform, which is fixed to the end of the operating arm. The top surface of the top platform is rotatably sleeved with a top turntable. The top turntable is fixed to the bottom surface of the top frame plate. The side wall of the side frame plate is fixed to a side platform, and the side wall of the side platform is rotatably sleeved with the side turntable. The gripping structure is disposed on the side turntable.

[0008] The gripping structure includes a stand plate and two clamping assemblies. A fixed block is fixed to the bottom side wall of the stand plate, and a movable block is vertically slidably disposed on the side wall of the stand plate above the fixed block. One of the clamping assemblies is disposed on the fixed block, and the other clamping assembly is disposed on the movable block.

[0009] Preferably, the upright plate is fixed to the side wall of the side turntable, the side wall of the upright plate has a dovetail groove, a dovetail block is vertically slidably connected in the dovetail groove, a moving block is fixed to the side wall of the dovetail block, two second guide rods are vertically fixed in the dovetail groove, two second guide holes are vertically opened on the dovetail block, the second guide rods are slidably sleeved in the second guide holes, a fourth hydraulic cylinder is fixed to the top of the upright plate, the output end of the fourth hydraulic cylinder is located in the dovetail groove, and the output end of the fourth hydraulic cylinder is fixed to the dovetail block.

[0010] Preferably, a third servo motor and a third reducer are fixedly connected inside the top platform, the input end of the third servo motor shaft is fixedly connected to the third reducer input end, and the output end of the third reducer is fixedly connected to the top turntable shaft. A fourth servo motor and a fourth reducer are fixedly connected inside the side platform, the input shaft of the fourth servo motor shaft is fixedly connected to the fourth reducer input shaft, and the output shaft of the fourth reducer is fixedly connected to the side turntable shaft.

[0011] Preferably, the ground rail structure includes a rail body, a sliding platform is horizontally slidably disposed on the top surface of the rail body, a top block is fixedly connected to the top surface of the sliding platform, a turntable is rotatably sleeved on the top surface of the top block, and the lifting structure is disposed on the top surface of the turntable.

[0012] Preferably, the rail body has an inner cavity, the top surface of the rail body has an opening that communicates with the inner cavity, the bottom surface of the slide is fixedly connected to an extension block that passes through the opening, the bottom surface of the extension block is fixedly connected to a drive chamber that is located inside the inner cavity.

[0013] Preferably, the drive shaft is vertically rotatably connected to the middle of the extension block and the drive chamber, and a vertical shaft is vertically rotatably connected to the inside of one side of the drive chamber. The bottom end of the drive shaft is located inside the drive chamber and is fixedly connected to a first driving gear. A first driven gear is fixedly sleeved on the upper part of the vertical shaft, and a second driving gear is fixedly sleeved on the lower part of the vertical shaft. A second driven gear is rotatably connected to the side of the drive chamber away from the vertical shaft. The second driving gear meshes with the second driven gear. Two racks are fixedly connected to both sides of the inner cavity. The sidewalls of the second driven gear and the second driving gear are located outside the drive chamber. The second driving gear meshes with one rack, and the second driven gear meshes with the other rack.

[0014] Preferably, a first servo motor and a first reducer are fixedly connected inside the slide table. The shaft end of the first servo motor is fixedly connected to the input shaft of the first reducer, and the output shaft of the first reducer is fixedly connected to the top of the drive shaft. A second servo motor and a second reducer are fixedly connected inside the top block. The shaft end of the second servo motor is fixedly connected to the input shaft of the second reducer, and the output shaft of the second reducer is fixedly connected to the turntable shaft. Two first guide rails are fixedly connected to the top surfaces of both sides of the track body. A first guide seat is slidably connected to the first guide rails and fixedly connected to the bottom surface of the slide table. Two second guide rails are fixedly connected to both sides of the track body. A second guide seat is slidably connected to the second guide rails. Two side plates are fixedly connected to both sides of the bottom surface of the slide table, and the second guide seat is fixedly connected to the side wall of the side plate.

[0015] Preferably, the lifting structure includes a vertical compartment, which is fixedly connected to the top surface of the turntable. A sliding carrier plate is vertically slidably disposed on the side wall of the vertical compartment. A side groove is formed in the side wall of the vertical compartment, and a side block is vertically slidably connected in the side groove. The sliding carrier plate is fixedly connected to the side wall of the side block. A first hydraulic cylinder is fixedly connected to the top surface of the vertical compartment. The output end of the first hydraulic cylinder is located inside the side groove. The bottom end of the output end of the first hydraulic cylinder is fixedly connected to the top surface of the side block. A plurality of first guide posts are vertically fixed in the side groove. A plurality of first guide holes are vertically formed on the side block, and the first guide posts are slidably sleeved with the first guide holes.

[0016] Preferably, the fixed arm sidewall is fixed to the sliding carrier plate, the top of the fixed arm is fixed to a top carrier block, the lower part of the operating arm near the fixed arm is fixed to a side carrier block, the top carrier block is rotatably connected to one end of two middle arms, the other end of the middle arms is rotatably connected to the sidewall of the side carrier block, a reinforcing beam block is fixed between the two middle arms, the fixed arm near the lower part of the operating arm is fixed to a first hinge seat, the bottom surface of the reinforcing beam block is fixed to a second hinge seat, the first hinge seat is rotatably connected to the end of a second hydraulic cylinder, the output end of the second hydraulic cylinder is rotatably connected to the second hinge seat, a third hinge seat is fixed between the two middle arms, the upper part of the operating arm near the middle arm is fixed to a fourth hinge seat, the third hinge seat is rotatably connected to the end of a third hydraulic cylinder, and the output end of the third hydraulic cylinder is rotatably connected to the fourth hinge seat.

[0017] Preferably, the clamp assembly includes a fixed plate fixedly connected to a fixed block or a movable block. Two horizontal plates are fixedly connected to the top and bottom surfaces of the sidewalls of the fixed plate. A frame is fixedly connected between the ends of the two horizontal plates. Two clamp arms are rotatably mounted at both ends of the frame. Two first pivot openings are opened at both ends of the frame. A protrusion is fixedly connected to the sidewall of each clamp arm. The protrusion is rotatably connected to the first pivot opening. A second pivot opening is opened at the end of each clamp arm away from the horizontal plate. A third pivot opening is opened at the other end of each clamp arm. The second pivot opening is rotatably connected to a rotating column. A bending plate is fixedly connected to the sidewall of the rotating column. Two toothed plates are fixedly connected to the sidewalls at both ends of the bending plate. The third pivot opening of one clamp arm is rotatably connected to the end of a hydraulic push rod. The output end of the hydraulic push rod is rotatably connected to the third pivot opening of the other clamp arm. The hydraulic push rod is located between the two horizontal plates. A limiting post is fixedly connected to the top and bottom surfaces of the rotating column. A limiting short arc groove is opened on the top and bottom surfaces of the second pivot opening. The limiting post is slidably connected to the limiting short arc groove.

[0018] Compared with the prior art, the beneficial effects of the present invention are:

[0019] This invention, based on the arm structure adjustment, incorporates a bidirectional adjustment structure. This bidirectional adjustment structure uses two rotating mechanisms, allowing for flexible adjustment of the drill rod's position during transfer. This enables flexible avoidance of all obstacles, finding the optimal path, and eliminates the need for a drill operator to adjust the position, making drill rod transfer more convenient. The gripping structure of this invention uses two clamping assemblies to hold and grip the drill rod: one fixed clamping assembly and one movable clamping assembly. This allows for adjustment of the drill rod's position after gripping, enabling simultaneous transfer and adjustment of the gripping position. This eliminates the need for extreme precision when gripping drill rods in the storage area and avoids the need for complete retraction and retrying due to minor positional deviations, shortening the time cycle for a single drill rod gripping operation. Attached Figure Description

[0020] Figure 1 These are schematic diagrams of the main body structure in the first and second embodiments of the present invention;

[0021] Figure 2 These are schematic diagrams of the arm structure in the first and second embodiments of the present invention;

[0022] Figure 3 These are schematic diagrams of the bidirectional adjustment structure in the first and second embodiments of the present invention;

[0023] Figure 4 These are schematic diagrams of the gripping structure in the first and second embodiments of the present invention;

[0024] Figure 5 This is a schematic diagram of the cross-sectional structure at the ground track structure in the second embodiment of the present invention;

[0025] Figure 6This is a schematic diagram of the cross-sectional structure of the drive compartment in the second embodiment of the present invention;

[0026] Figure 7 This is a schematic diagram of the clamp assembly in the second embodiment of the present invention;

[0027] Figure 8 This is a schematic diagram of the lifting structure in the second embodiment of the present invention;

[0028] Figure 9 This is a schematic diagram of the other side of the arm structure in the second embodiment of the present invention.

[0029] In the diagram: 1. Ground rail structure; 2. Lifting structure; 3. Arm structure; 4. Two-way adjustment structure; 5. Grabbing structure; 11. Rail body; 12. Slide table; 13. Top block; 14. Turntable; 15. Inner cavity; 16. Through opening; 17. Extension block; 18. Drive chamber; 19. Rack; 110. Drive shaft; 111. Vertical shaft; 112. First driving gear; 113. First driven gear; 114. Second driving gear; 115. Second driven gear; 116. First servo... 117. Servo motor; 118. First reducer; 119. Second reducer; 120. First guide rail; 121. First guide seat; 122. Side plate; 123. Second guide rail; 124. Second guide seat; 21. Vertical compartment; 22. Sliding carrier plate; 23. Side groove; 24. Side block; 25. First hydraulic cylinder; 26. First guide post; 27. First guide hole; 31. Fixed arm; 32. Operating arm; 33. Top carrier block; 34. Side carrier block; 35. Middle arm 36. Reinforcing beam block; 37. First hinge seat; 38. Second hinge seat; 39. Second hydraulic cylinder; 310. Third hinge seat; 311. Fourth hinge seat; 312. Third hydraulic cylinder; 41. Top frame plate; 42. Side frame plate; 43. Top platform; 44. Top turntable; 45. Side platform; 46. Side turntable; 47. Third servo motor; 48. Third reducer; 49. Fourth servo motor; 410. Fourth reducer; 51. Vertical frame plate; 52. Fixed block; 53. Moving block; 54. 55. Clamp assembly; 56. Dovetail groove; 57. Dovetail block; 58. Fourth hydraulic cylinder; 59. Second guide rod; 50. Second guide hole; 51. Fixing plate; 52. Horizontal plate; 53. Frame; 544. Clamp arm; 545. First pivot; 546. Protrusion; 547. Second pivot; 548. Third pivot; 549. Rotating column; 5410. Bending plate; 5411. Jaw plate; 5412. Hydraulic push rod; 5413. Limiting post; 5414. Limiting short arc groove. Detailed Implementation

[0030] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0031] Example 1:

[0032] Please see Figure 1-4 The present invention provides a technical solution: a multi-degree-of-freedom drill rod gripping robotic arm for downhole drilling rigs, including a ground rail structure 1, a lifting structure 2 on the ground rail structure 1, an arm structure 3 on the lifting structure 2, the arm structure 3 including a fixed arm 31 and an operating arm 32, a bidirectional adjustment structure 4 at the end of the operating arm 32, and a gripping structure 5 on the bidirectional adjustment structure 4.

[0033] The bidirectional adjustment structure 4 includes a top frame plate 41, one end of which is vertically fixed to the top of the side frame plate 42. The bidirectional adjustment structure 4 also includes a top platform 43, which is fixed to the end of the operating arm 32. The top surface of the top platform 43 is rotatably sleeved with a top turntable 44, which is fixed to the bottom surface of the top frame plate 41. The side wall of the side frame plate 42 is fixed to a side platform 45, and the side wall of the side platform 45 is rotatably sleeved with a side turntable 46. The gripping structure 5 is set on the side turntable 46. Based on the adjustment using the arm structure 3, the bidirectional adjustment structure 4 is set. The bidirectional adjustment structure 4 uses two rotating structures, which can flexibly adjust the position of the drill rod during transfer. This allows for flexible avoidance of all obstacles, finding the optimal path, and eliminating the need for a drill operator to adjust the position, making the transfer of the drill rod more convenient.

[0034] The gripping structure 5 includes a stand plate 51 and two clamping assemblies 54. A fixed block 52 is fixed to the bottom side wall of the stand plate 51. A movable block 53 is vertically slidably arranged on the side wall of the stand plate 51 above the fixed block 52. One clamping assembly 54 is set on the fixed block 52, and the other clamping assembly 54 is set on the movable block 53. The drill rod is gripped by two clamping assemblies 54. One is a fixed clamping assembly 54, and the other is a movable clamping assembly 54. After gripping the drill rod, the position of the drill rod can be adjusted. The gripping position of the drill rod can be adjusted while transferring the drill rod. When gripping the drill rod in the storage area, it is not necessary to be particularly precise, and there is no need to completely retract and retry due to slight positional deviations. This shortens the time cycle of gripping the drill rod once, thereby improving the rhythm of the entire drill rod processing process.

[0035] Example 2:

[0036] Please see Figure 1-9This is the second embodiment of the present invention, which is based on the previous embodiment. The support plate 51 is fixed to the side wall of the side turntable 46. A dovetail groove 55 is opened on the side wall of the support plate 51. A dovetail block 56 is vertically slidably connected in the dovetail groove 55. A moving block 53 is fixed to the side wall of the dovetail block 56. Two second guide rods 58 are vertically fixed in the dovetail groove 55. Two second guide holes 59 are vertically opened on the dovetail block 56. The second guide rods 58 are slidably sleeved in the second guide holes 59. A fourth hydraulic cylinder 57 is fixed to the top of the support plate 51. The output end of the fourth hydraulic cylinder 57 is located in the dovetail groove 55. The output end of the fourth hydraulic cylinder 57 is fixed to the dovetail block 56. The fourth hydraulic cylinder 57 can drive the clamp assembly 54 above to move. In this way, the two clamp assemblies 54 cooperate with each other, and the gripping position of the drill rod can be changed by releasing and clamping in coordination.

[0037] The third servo motor 47 and the third reducer 48 are fixedly connected inside the top platform 43. The shaft end of the third servo motor 47 is fixedly connected to the input end of the third reducer 48. The output end of the third reducer 48 is fixedly connected to the shaft of the top turntable 44. The fourth servo motor 49 and the fourth reducer 410 are fixedly connected inside the side platform 45. The shaft end of the fourth servo motor 49 is fixedly connected to the input shaft of the fourth reducer 410. The output shaft of the fourth reducer 410 is fixedly connected to the shaft of the side turntable 46.

[0038] The ground rail structure 1 includes a rail body 11, a sliding table 12 is horizontally slidably arranged on the top surface of the rail body 11, a top block 13 is fixedly connected to the top surface of the sliding table 12, and a turntable 14 is rotatably sleeved on the top surface of the top block 13. The lifting structure 2 is arranged on the top surface of the turntable 14.

[0039] An inner cavity 15 is opened inside the rail body 11, and an opening 16 is opened on the top surface of the rail body 11, which is connected to the inner cavity 15. An extension block 17 is fixedly connected to the bottom surface of the slide table 12, and the extension block 17 passes through the opening 16. A drive chamber 18 is fixedly connected to the bottom surface of the extension block 17, and the drive chamber 18 is located inside the inner cavity 15.

[0040] The drive shaft 110 is vertically rotatably connected to the middle of the insert block 17 and the drive chamber 18. The vertical shaft 111 is vertically rotatably connected to the inside of one side of the drive chamber 18. The bottom end of the drive shaft 110 is located inside the drive chamber 18 and is fixedly connected to the first drive gear 112. The upper part of the vertical shaft 111 is fixedly sleeved with the first driven gear 113. The lower part of the vertical shaft 111 is fixedly sleeved with the second drive gear 114. The side of the drive chamber 18 away from the vertical shaft 111 is rotatably connected to the second driven gear 115. The second drive gear 114 meshes with the second driven gear 115. Two racks 19 are fixedly connected to both sides of the inner cavity 15. The sidewalls of the second driven gear 115 and the second drive gear 114 are located outside the drive chamber 18. The second drive gear 114 meshes with one rack 19, and the second driven gear 115 meshes with the other rack 19.

[0041] The slide 12 is internally fixed with a first servo motor 116 and a first reducer 117. The shaft end of the first servo motor 116 is fixedly connected to the input shaft of the first reducer 117. The output shaft of the first reducer 117 is fixedly connected to the top of the drive shaft 110. The top block 13 is internally fixed with a second servo motor 118 and a second reducer 119. The shaft end of the second servo motor 118 is fixedly connected to the input shaft of the second reducer 119. The output shaft of the second reducer 119 is fixedly connected to the shaft of the turntable 14. The two rails 11 are also fixedly connected. Two first guide rails 120 are fixed to the top side, and a first guide seat 121 is slidably connected to the first guide rail 120. The first guide seat 121 is fixed to the bottom surface of the slide table 12. Two second guide rails 123 are fixed to both sides of the rail body 11, and a second guide seat 124 is slidably connected to the second guide rail 123. Two side plates 122 are fixed to both sides of the bottom surface of the slide table 12, and the second guide seat 124 is fixed to the side wall of the side plate 122. In the ground rail structure 1, the slide table 12 can move on the rail body 11, which facilitates the transfer of drill rods.

[0042] The lifting structure 2 includes a vertical compartment 21, which is fixed to the top surface of the turntable 14. A sliding carrier plate 22 is vertically slidably provided on the side wall of the vertical compartment 21. A side groove 23 is opened on the side wall of the vertical compartment 21. A side block 24 is vertically slidably connected in the side groove 23. The sliding carrier plate 22 is fixed to the side wall of the side block 24. A first hydraulic cylinder 25 is fixed to the top surface of the vertical compartment 21. The output end of the first hydraulic cylinder 25 is located inside the side groove 23. The bottom end of the output end of the first hydraulic cylinder 25 is fixed to the top surface of the side block 24. Multiple first guide posts 26 are vertically fixed in the side groove 23. Multiple first guide holes 27 are vertically opened on the side block 24. The first guide posts 26 are slidably sleeved with the first guide holes 27. The lifting structure 2 is used to change the height position of the boom structure 3.

[0043] The fixed arm 31 is fixed to the side wall of the sliding carrier plate 22. The top of the fixed arm 31 is fixed to the top carrier block 33. The lower part of the operating arm 32 is fixed to the side carrier block 34 near the fixed arm 31. The top carrier block 33 is rotatably connected to one end of the two middle arms 35. The other end of the middle arms 35 is rotatably connected to the side wall of the side carrier block 34. The two middle arms 35 are fixed to the middle arm 36. The fixed arm 31 is fixed to the lower part of the operating arm 32. The bottom surface of the reinforcing beam block 36 is fixed to the second hinge 38. The first hinge 37 is rotatably connected to the end of the second hydraulic cylinder 39. The output end of the second hydraulic cylinder 39 is rotatably connected to the second hinge 38. The two middle arms 35 are fixed to the middle arm 35. The upper part of the operating arm 32 is fixed to the middle arm 35. The third hinge 310 is rotatably connected to the end of the third hydraulic cylinder 312. The output end of the third hydraulic cylinder 312 is rotatably connected to the fourth hinge 311.

[0044] The clamp assembly 54 includes a fixed plate 541, which is fixedly connected to a fixed block 52 or a movable block 53. Two horizontal plates 542 are fixedly connected to the top and bottom surfaces of the sidewalls of the fixed plate 541. A frame 543 is fixedly connected between the ends of the two horizontal plates 542. Two clamp arms 544 are rotatably mounted at both ends of the frame 543. Two first pivot openings 545 are opened at both ends of the frame 543. A protrusion 546 is fixedly connected to the sidewall of the clamp arm 544, and the protrusion 546 is rotatably connected to the first pivot opening 545. A second pivot opening 547 is opened at the end of the clamp arm 544 away from the horizontal plate 542, and a third pivot opening 548 is opened at the other end of the clamp arm 544. The second pivot opening 547 is rotatably connected to a rotating post 549. A bending plate 5410 is fixedly connected to the sidewall of the rotating post 549. Two jaw plates 5411 are fixedly connected to the sidewalls of both ends of the bending plate 5410. The third pivot 548 of one clamp arm 544 is rotatably connected to the end of the hydraulic push rod 5412. The output end of the hydraulic push rod 5412 is rotatably connected to the third pivot 548 of another clamp arm 544. The hydraulic push rod 5412 is located between two horizontal plates 542. The top and bottom surfaces of the rotating column 549 are fixedly connected to the limiting post 5413. The top and bottom surfaces of the second pivot 547 are provided with limiting short arc grooves 5414. The limiting post 5413 is slidably connected to the limiting short arc groove 5414. The hydraulic push rod 5412 drives the two clamp arms 544 to move, so as to achieve the effect of clamping or releasing. The bending plate 5410, together with the rotatable rotating column 549 and the limiting post 5413, can better fit the drill rod surface, increase the contact area, and ensure a firm grip.

[0045] Based on the adjustment of the arm structure 3, this invention incorporates a bidirectional adjustment structure 4. This bidirectional adjustment structure 4 uses two rotating mechanisms, allowing for flexible adjustment of the drill rod's position during transfer. This enables the flexible avoidance of all obstacles, finding the optimal path, and eliminates the need for a drill operator to adjust the position, making drill rod transfer more convenient. The gripping structure 5 uses two clamping assemblies 54 to hold and grip the drill rod: one fixed and one movable. This allows for adjustment of the drill rod's position after gripping, enabling simultaneous transfer and adjustment of the gripping position. This eliminates the need for extreme precision when gripping the drill rod in the storage area and avoids the need for complete retraction and retrying due to minor positional deviations, thus shortening the time cycle for a single drill rod gripping operation.

[0046] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A multi-degree-of-freedom drill pipe gripping robotic arm for downhole drilling rigs, comprising a ground rail structure (1), characterized in that: The ground rail structure (1) is provided with a lifting structure (2), the lifting structure (2) is provided with an arm structure (3), the arm structure (3) includes a fixed arm (31) and an operating arm (32), the end of the operating arm (32) is provided with a bidirectional adjustment structure (4), and the bidirectional adjustment structure (4) is provided with a gripping structure (5). The bidirectional adjustment structure (4) includes a top frame plate (41), one end of which is vertically fixed to the top of the side frame plate (42). The bidirectional adjustment structure (4) also includes a top platform (43), which is fixed to the end of the operating arm (32). The top surface of the top platform (43) is rotatably sleeved with a top turntable (44). The top turntable (44) is fixed to the bottom surface of the top frame plate (41). The side wall of the side frame plate (42) is fixed to a side platform (45). The side wall of the side platform (45) is rotatably sleeved with a side turntable (46). The gripping structure (5) is set on the side turntable (46). The gripping structure (5) includes a stand plate (51) and two clamping assemblies (54). A fixed block (52) is fixed to the bottom side wall of the stand plate (51). A movable block (53) is vertically slidably disposed on the side wall of the stand plate (51) above the fixed block (52). One of the clamping assemblies (54) is disposed on the fixed block (52), and the other clamping assembly (54) is disposed on the movable block (53).

2. The multi-degree-of-freedom drill pipe gripping robotic arm for downhole drilling rigs according to claim 1, characterized in that: The upright plate (51) is fixed to the side wall of the side turntable (46). A dovetail groove (55) is opened on the side wall of the upright plate (51). A dovetail block (56) is vertically slidably connected in the dovetail groove (55). A moving block (53) is fixed to the side wall of the dovetail block (56). Two second guide rods (58) are vertically fixed in the dovetail groove (55). Two second guide holes (59) are vertically opened on the dovetail block (56). The second guide rods (58) are slidably sleeved in the second guide holes (59). A fourth hydraulic cylinder (57) is fixed to the top of the upright plate (51). The output end of the fourth hydraulic cylinder (57) is located in the dovetail groove (55). The output end of the fourth hydraulic cylinder (57) is fixed to the dovetail block (56).

3. The multi-degree-of-freedom drill pipe gripping robotic arm for downhole drilling rigs according to claim 1, characterized in that: The top platform (43) is internally fixed with a third servo motor (47) and a third reducer (48). The shaft end of the third servo motor (47) is fixedly connected with the input end of the third reducer (48). The output end of the third reducer (48) is fixedly connected with the shaft of the top turntable (44). The side platform (45) is internally fixed with a fourth servo motor (49) and a fourth reducer (410). The shaft end of the fourth servo motor (49) is fixedly connected with the input shaft of the fourth reducer (410). The output shaft of the fourth reducer (410) is fixedly connected with the shaft of the side turntable (46).

4. A multi-degree-of-freedom drill pipe gripping robotic arm for downhole drilling rigs according to claim 1, characterized in that: The ground rail structure (1) includes a rail body (11), a sliding table (12) is horizontally slidably provided on the top surface of the rail body (11), a top block (13) is fixedly connected to the top surface of the sliding table (12), a turntable (14) is rotatably connected to the top surface of the top block (13), and the lifting structure (2) is provided on the top surface of the turntable (14).

5. A multi-degree-of-freedom drill pipe gripping robotic arm for downhole drilling rigs according to claim 4, characterized in that: The rail body (11) has an inner cavity (15) inside, and the top surface of the rail body (11) has an opening (16) that communicates with the inner cavity (15). The bottom surface of the slide (12) is fixedly connected to an extension block (17), which passes through the opening (16). The bottom surface of the extension block (17) is fixedly connected to a drive chamber (18), which is located inside the inner cavity (15).

6. A multi-degree-of-freedom drill pipe gripping robotic arm for downhole drilling rigs according to claim 5, characterized in that: The extension block (17) and the drive chamber (18) are vertically rotatably connected to the drive shaft (110) at the middle. The drive chamber (18) is vertically rotatably connected to the vertical shaft (111) on one side. The bottom end of the drive shaft (110) is located inside the drive chamber (18) and is fixedly connected to the first driving gear (112). The upper part of the vertical shaft (111) is fixedly sleeved with the first driven gear (113). The lower part of the vertical shaft (111) is fixedly sleeved with the second driving gear (114). The drive chamber (18) is away from the vertical shaft. (111) A second driven gear (115) is rotatably connected to one side, and the second driving gear (114) meshes with the second driven gear (115). Two racks (19) are fixed to both sides of the inner cavity (15). The side walls of the second driven gear (115) and the second driving gear (114) are located outside the drive compartment (18). The second driving gear (114) meshes with one of the racks (19), and the second driven gear (115) meshes with the other rack (19).

7. A multi-degree-of-freedom drill pipe gripping robotic arm for downhole drilling rigs according to claim 6, characterized in that: The slide (12) is internally fixed with a first servo motor (116) and a first reducer (117). The shaft end of the first servo motor (116) is fixedly connected to the input shaft of the first reducer (117). The output shaft of the first reducer (117) is fixedly connected to the top of the drive shaft (110). The top block (13) is internally fixed with a second servo motor (118) and a second reducer (119). The shaft end of the second servo motor (118) is fixedly connected to the input shaft of the second reducer (119). The output shaft of the second reducer (119) is fixedly connected to the turntable. (14) At the pivot, two first guide rails (120) are fixed to the top surfaces of both sides of the rail body (11), and a first guide seat (121) is slidably connected to the first guide rail (120). The first guide seat (121) is fixed to the bottom surface of the slide table (12). Two second guide rails (123) are fixed to both sides of the rail body (11), and a second guide seat (124) is slidably connected to the second guide rail (123). Two side plates (122) are fixed to both sides of the bottom surface of the slide table (12), and the second guide seat (124) is fixed to the side wall of the side plate (122).

8. A multi-degree-of-freedom drill pipe gripping robotic arm for downhole drilling rigs according to claim 4, characterized in that: The lifting structure (2) includes a vertical compartment (21), which is fixed to the top surface of the turntable (14). A sliding plate (22) is vertically slidably arranged on the side wall of the vertical compartment (21). A side groove (23) is opened on the side wall of the vertical compartment (21). A side block (24) is vertically slidably connected in the side groove (23). The sliding plate (22) is fixed to the side wall of the side block (24). A first hydraulic cylinder (25) is fixedly connected to the top surface of the vertical compartment (21). The output end of the first hydraulic cylinder (25) is located inside the side groove (23). The bottom end of the output end of the first hydraulic cylinder (25) is fixedly connected to the top surface of the side block (24). Multiple first guide posts (26) are vertically fixed in the side groove (23). Multiple first guide holes (27) are vertically opened on the side block (24). The first guide posts (26) are slidably sleeved in the first guide holes (27).

9. A multi-degree-of-freedom drill pipe gripping robotic arm for downhole drilling rigs according to claim 8, characterized in that: The fixed arm (31) is fixed to the side wall of the sliding plate (22). The top of the fixed arm (31) is fixed to the top of the top of the fixed arm (31). The lower part of the operating arm (32) is fixed to the side plate (34) near the fixed arm (31). The top plate (33) is rotatably connected to one end of two middle arms (35) on both sides. The other end of the middle arms (35) is rotatably connected to the side wall of the side plate (34). A reinforcing beam (36) is fixed between the two middle arms (35). The fixed arm (31) is fixed to the lower part of the operating arm (32) near the first hinge seat (37). The bottom surface of the beam block (36) is fixed to the second hinge seat (38), the first hinge seat (37) is rotatably connected to the end of the second hydraulic cylinder (39), the output end of the second hydraulic cylinder (39) is rotatably connected to the second hinge seat (38), the two middle arms (35) are fixed to the third hinge seat (310), the upper part of the operating arm (32) near the middle arm (35) is fixed to the fourth hinge seat (311), the third hinge seat (310) is rotatably connected to the end of the third hydraulic cylinder (312), and the output end of the third hydraulic cylinder (312) is rotatably connected to the fourth hinge seat (311).

10. A multi-degree-of-freedom drill pipe gripping robotic arm for downhole drilling rigs according to claim 1, characterized in that: The clamp assembly (54) includes a fixed plate (541), which is fixed to a fixed block (52) or a movable block (53). Two horizontal plates (542) are fixed to the top and bottom surfaces of the sidewall of the fixed plate (541). A frame (543) is fixed between the ends of the two horizontal plates (542). Two clamp arms (544) are rotatably arranged at both ends of the frame (543). Two first pivot openings (545) are opened at both ends of the frame (543). A protrusion (546) is fixed to the sidewall of the clamp arm (544). The protrusion (546) is rotatably connected to the first pivot opening (545). A second pivot opening (547) is opened at the end of the clamp arm (544) away from the horizontal plate (542). A third pivot opening (548) is opened at the other end of the clamp arm (544). 47) Rotary connection of rotating column (549), the side wall of rotating column (549) is fixedly connected to bending plate (5410), the two ends of bending plate (5410) are fixedly connected to two toothed plates (5411), the third port (548) of one of the clamp arms (544) is rotatably connected to the end of hydraulic push rod (5412), the output end of hydraulic push rod (5412) is rotatably connected to the third port (548) of the other clamp arm (544), the hydraulic push rod (5412) is located between two horizontal plates (542), the top and bottom surfaces of rotating column (549) are fixedly connected to limit post (5413), the top and bottom surfaces of the second port (547) are provided with limit short arc groove (5414), the limit post (5413) is slidably connected to limit short arc groove (5414).

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