A method for positioning a rig floor manipulator connection seat

Abstract

The application discloses a method for positioning a rig manipulator connecting seat assembly, which comprises the following steps: first, dividing the rig manipulator connecting seat into a connecting assembly, an ear seat assembly and a support; then, respectively splicing the connecting assembly by a connecting assembly assembly tool and the ear seat assembly by an ear seat assembly assembly tool; finally, integrally assembling the connecting assembly, the ear seat assembly and the support by a connecting seat assembly tool. The complex connecting seat is disassembled into the connecting assembly, the ear seat assembly and the support, precise positioning of each link is realized by means of the special tool, the whole process is replaced by mechanical limiting instead of traditional manual marking, random error of manual operation is completely reduced, size consistency of different batches of products is ensured, redundant processes such as secondary assembly, repeated adjustment and the like are saved, and the production cycle is greatly shortened.

Description

Technical Field

[0001] This invention relates to a method for positioning and assembling the connecting seat of a drilling rig robot, belonging to the field of mechanical assembly technology. Background Technology

[0002] A drilling rig robot is a large, heavy-duty industrial robot system mounted on the drilling rig surface. Its core function is to replace the traditional method of drilling operations where drillers manually operate tools such as clamps, hydraulic tongs, and slips in dangerous areas to handle the drill string, thus automating drill string operations and significantly improving the safety and efficiency of drilling operations. The intermediate connecting seat, as a key component of the drilling rig robot, plays a crucial supporting role in the stable operation and functional realization of the robot. However, its structural characteristics present significant challenges to its manufacturing. The connecting seat has a complex shape, requiring extensive welding work with extremely high requirements for weld quality and overall precision. It also involves multiple processing steps, resulting in a long process flow and significant overall manufacturing difficulty.

[0003] Currently, the industry's conventional manufacturing process for this connector is primarily manual. The specific steps involve: after material preparation, manual marking and assembly; after initial assembly, manual welding; followed by correction and grinding; then a second marking and assembly, and another round of manual welding; and finally, correction and grinding again. This entire process relies heavily on manual operation, resulting in an excessively long workflow and low production efficiency. More importantly, manual marking and assembly are prone to significant errors, making it difficult to ensure consistent quality across different batches of connectors and to effectively control the production cycle. Furthermore, it places high demands on the skills of operators, making it difficult to meet the industry's actual needs for low-cost, high-quality production with short delivery times. In the entire manufacturing process, the efficiency and accuracy of the marking, assembly, and welding stages directly impact project delivery schedules, becoming a major technical obstacle to the stable mass production of drilling rig robot connectors. Summary of the Invention

[0004] The purpose of this invention is to address the aforementioned problems by providing a method for positioning and assembling the connecting seat of a drilling rig robot, which can reduce the difficulty of welding assembly, improve the overall welding assembly accuracy, and thus ensure the consistency of the connecting seat; meet the requirements of rapid positioning in mass production, improve production efficiency, and achieve the requirements of "low cost, high quality, and short delivery time".

[0005] The technical solution adopted in this invention is as follows: A method for positioning and assembling a connecting seat for a drilling rig robot includes the following steps: S1. The drilling rig robot connector is divided into a connector assembly, a lug assembly, and a support. S2. The tooling is assembled with the connecting component group and the connecting component is assembled with the ear seat group respectively. S3. The tooling is used to assemble the connecting components, ear components, and supports as a whole through the connecting seat assembly.

[0006] Alternatively, the connecting assembly includes two steel pipes arranged in parallel and connected by a connecting base plate, and a plurality of connecting plates are provided between the two steel pipes; The ear seat assembly includes an ear seat side plate and an ear seat retaining plate arranged in parallel. The ear seat side plate and the ear seat retaining plate are connected by a vertical plate. The ear seat side plate is longer than the ear seat retaining plate, and at least one stiffening plate is provided on the part of the ear seat side plate that is longer than the ear seat retaining plate. The ear seat side plate and the ear seat retaining plate are respectively provided with through positioning holes. The bottom of the ear seat retaining plate is provided with a retaining groove corresponding to the top of the steel pipe. The drilling rig manipulator connecting seat includes two sets of symmetrically arranged ear seat assemblies. The ear seat plates of the two sets of ear seat assemblies are arranged opposite each other. The connecting component is arranged on the front side of the ear seat assembly. The two steel pipes are respectively clamped in the slots of the two ear seat plates. The support is connected to the side of each ear seat side plate that is away from the other ear seat side plate.

[0007] Alternatively, the connecting component assembly tooling includes a first base plate, the first base plate is provided with a first support positioning member for placing the connecting component, the first support positioning member has a groove above it for placing the connecting component, the two ends of the groove are arc-shaped walls, and the first positioning member is also provided on the front and / or rear of the first base plate.

[0008] Alternatively, in S2, when assembling the connecting components, two steel pipes are placed parallel to each other in the groove, with the outer sides of the steel pipes respectively fitting against the arc-shaped wall of the groove; the connecting base plate is placed on the top surface of the first support positioning member, the bottom surface of the connecting base plate fits against the top surface of the groove, and the front end and / or rear end of the connecting base plate fits against the side of the first positioning member. After positioning, the connecting base plate and the steel pipes are spot-welded firmly; then multiple connecting plates are assembled by marking lines and spot-welded firmly.

[0009] Optionally, the ear seat assembly tooling includes a second base plate, on which a second support and positioning member is provided for laying the ear seat plate flat. The second support and positioning member is provided with a positioning tube identical to the steel pipe structure. The front and rear parts of the second base plate are also provided with second positioning members, on which a first positioning pin is provided. The first positioning pin can be inserted into the positioning holes of the ear seat side plate and the ear seat plate.

[0010] Alternatively, in S2, when assembling the ear seat assembly, the ear seat side plate is placed flat on the top surface of the second support positioning member, the positioning hole of the ear seat side plate is aligned with the positioning hole of the ear seat side plate, the first positioning pin is inserted into the aligned positioning hole, then lines are drawn on the ear seat side plate, the upright plate and the stiffening plate are placed, and spot welded firmly; then an ear seat clamping plate is placed above the ear seat side plate, the bottom surface of the ear seat side plate is attached to the top surface of the upright plate, the positioning hole of the ear seat clamping plate is inserted into the first positioning pin, the side and the slot are attached to the positioning tube, the lower plane is attached to the support surface of the second positioning member, and spot welded firmly after positioning.

[0011] Alternatively, in S3, first, place the two sets of ear-mount assemblies upright on the connecting seat assembly tooling and position them. Then, place the support on the connecting seat assembly tooling and position it against the ear-mount side plate of the ear-mount assembly. Finally, insert the two steel pipes of the connecting assembly into the ear-mount slots of the two sets of ear-mount assemblies to complete the positioning.

[0012] Optionally, the connecting seat assembly tooling includes a third base plate, the third base plate is provided with a third support positioning member for simultaneously placing two sets of ear seat assemblies, the front or rear of the third base plate is also provided with a third positioning member, the third positioning member is provided with a second positioning pin, the second positioning pin can be inserted into the positioning holes of the two sets of ear seat side plates and ear seat clamping plates, and the left and right sides of the third support positioning member are respectively provided with fourth support positioning members for placing supports.

[0013] Alternatively, in S3, two sets of ear socket assemblies are symmetrically placed on both sides of the third support positioning member in an upright position, with the slots of the ear socket assemblies facing upwards, and the outer side of the ear socket side plate fitting against the inner side of the fourth support positioning member; the second positioning shaft passes through the positioning holes of the two sets of ear socket assemblies.

[0014] Alternatively, in S3, the support is positioned on the top surface of the fourth support positioning member, the inner side wall of the support is in contact with the outer side wall of the ear seat side plate of the ear seat assembly, and the bottom surface of the support is in contact with the top surface of the fourth support positioning member.

[0015] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are: 1. The present invention provides a method for positioning and assembling a connecting seat of a drilling rig robot, which disassembles the complex connecting seat into connecting components, lug components, and supports. Specialized tooling is used to achieve precise positioning of each component: the connecting component assembly tooling uses an arc-shaped groove to define the posture of the steel pipe and a positioning component to lock the position of the base plate, ensuring the parallelism of the steel pipe and the relative positional accuracy of the components; the lug assembly tooling uses a positioning tube to pre-fit the steel pipe slot and a positioning pin to ensure the coaxiality of the holes, avoiding manual alignment deviations; the overall assembly tooling relies on symmetrical support positioning components and positioning shafts to lock the relative positions of each component group. The entire process uses mechanical positioning to replace traditional manual marking, completely reducing the random errors of manual operation, ensuring dimensional consistency of different batches of products, and eliminating redundant processes such as secondary assembly and repeated adjustments, significantly shortening the production cycle.

[0016] 2. The present invention provides a method for positioning and assembling a connecting seat of a drilling rig robot. The lug assembly tooling, through the front and rear arranged second positioning components, can adapt to the positioning requirements of two symmetrical lug assembly components. It can cover multiple specifications of assembly without changing the tooling, reducing the cost of tooling manufacturing and maintenance. The design of the connecting plate in the connecting component and the stiffening plate in the lug assembly, together with the tight fit and positioning of each component, enhances the overall rigidity of the connecting seat and reduces welding deformation and structural damage during long-term use. The standardized design of the overall tooling simplifies the operation process, reduces the dependence on operator skills, adapts to mass production scenarios, and the symmetrical layout and precise docking ensure that the connecting seat is subjected to balanced forces, meeting the stability requirements of heavy-duty drilling rig robot operations, and providing key technical support for the reliable operation of automated drilling equipment. Attached Figure Description

[0017] Figure 1 This is a structural diagram of the drilling rig robot arm connector.

[0018] Figure 2 This is a structural diagram of the connecting components.

[0019] Figure 3 This is a schematic diagram of the ear socket assembly.

[0020] Figure 4 This is a structural diagram of the support.

[0021] Figure 5 This is a structural diagram of the tooling connecting the component group.

[0022] Figure 6 This is a schematic diagram showing the use of the tooling by the connecting component group.

[0023] Figure 7 This is a schematic diagram of the tooling for the ear seat assembly.

[0024] Figure 8 This is a diagram illustrating the use of tooling by the earpiece assembly. Figure 1 .

[0025] Figure 9 This is a diagram illustrating the use of tooling by the earpiece assembly. Figure 2 .

[0026] Figure 10 This is a structural diagram of the connecting seat assembly and tooling.

[0027] Figure 11 This refers to the process of using the tooling with the connecting seat assembly. Figure 1 .

[0028] Figure 12 This refers to the process of using the tooling with the connecting seat assembly. Figure 2 .

[0029] Figure 13 This refers to the process of using the tooling with the connecting seat assembly. Figure 3 .

[0030] The markings in the diagram are: 1-Connecting assembly, 11-Steel pipe, 12-Base plate, 13-Connecting plate, 14-Bending plate, 2-Ear assembly, 21-Ear side plate, 22-Ear clamping plate, 221-Clamping groove, 23-Upright plate, 24-Firming plate, 25-Positioning hole, 3-Support, 4-Connecting assembly assembly fixture, 41-First base plate, 42-First support positioning component, 421-Groove, 43-First positioning component, 5-Ear assembly fixture, 51-Second base plate, 52-Second support positioning component, 53-Positioning tube, 54-Second positioning component, 55-First positioning pin, 6-Connecting seat assembly fixture, 61-Third base plate, 62-Third support positioning component, 63-Third positioning component, 64-Second positioning pin, 65-Fourth support positioning component. Detailed Implementation

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

[0032] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0033] A method for positioning and assembling the connecting seat of a drilling rig robot, such as... Figure 1-13 As shown, it includes the following steps: S1. The drilling rig robot arm connector is divided into a connector assembly 1, an ear assembly 2, and a support 3. S2. The tooling 4 is spliced ​​with the connecting component group and the tooling 5 is spliced ​​with the ear seat group. S3. Assemble the tooling 6, connecting component 1, ear component 2, and support 3 together using the connecting seat assembly.

[0034] This solution breaks down the drilling rig robot connector into a connecting component 1, an ear assembly 2, and a support 3. This transforms the originally complex, difficult-to-weld and assembled monolithic component into multiple relatively simple, easily individually machined units. This avoids precision deviations caused by interference between parts during overall fabrication and provides a clearer operational direction for subsequent processing. The corresponding components are assembled using the connecting component assembly fixture 4 and the ear assembly fixture 5. Utilizing the fixture's dedicated positioning structure, a stable and precise alignment reference is provided for each component's parts, ensuring the machining accuracy and consistency of each independent component and laying a high-precision foundation for subsequent overall assembly. Finally, the three components are assembled using the connecting seat assembly fixture 6. Using the fixture as a unified reference, the already-precise components are precisely integrated, avoiding assembly errors caused by inconsistent references between components and achieving high-precision assembly of the entire connector. In existing technologies, the fabrication of drilling rig robot connectors often employs manual assembly or simple tooling assistance for certain stages. This lacks a systematic approach to disassembling complex structures and the availability of dedicated tooling throughout the entire process. Precision control is typically limited to single stages, making it difficult to balance overall precision and production efficiency. This method, through rational disassembly and the coordinated application of dedicated tooling, organically combines component precision control with overall assembly precision control, forming a complete and precise assembly solution. Process-oriented design ensures that disassembly and tooling positioning work in tandem, achieving simultaneous improvements in precision and efficiency. This solves the core problems of large errors, low efficiency, and unstable quality inherent in traditional processes.

[0035] As another specific implementation, the connecting component 1 includes two steel pipes 11 arranged in parallel and connected by a connecting base plate 12, and a plurality of connecting plates 13 are provided between the two steel pipes 11; The two parallel steel pipes 11 in the connecting assembly 1 are connected by a connecting base plate 12, ensuring that the two steel pipes 11 maintain a stable parallel posture at all times. This avoids subsequent docking deviations caused by the offset of the steel pipes 11 during assembly. The connecting base plate 12 also provides a flat supporting foundation for the steel pipes 11, giving the connecting assembly 1 a uniform reference surface when docking with other components. The multiple connecting plates 13 between the two steel pipes 11 further enhance the overall rigidity of the connecting assembly 1, reducing deformation caused by uneven structural stress after welding. This ensures that the connecting assembly 1 maintains its preset structural dimensions during long-term use, preventing insufficient rigidity from affecting the stable operation of the robot. Furthermore, the connecting plates 13 are respectively connected to both ends of the steel pipe 11 along the axial direction, and one of the connecting plates 13 is also provided with a bending plate 14 along the inner side of the steel pipe 11 along the axial direction.

[0036] The ear seat assembly 2 includes an ear seat side plate 21 and an ear seat retaining plate 22 arranged in parallel. The ear seat side plate 21 and the ear seat retaining plate 22 are connected by a vertical plate 23. The ear seat side plate 21 is longer than the ear seat retaining plate 22, and at least one stiffening plate 24 is provided on the part of the ear seat side plate 21 that is longer than the ear seat retaining plate 22. The ear seat side plate 21 and the ear seat retaining plate 22 are respectively provided with through positioning holes 25. The bottom of the ear seat retaining plate 22 is provided with a groove 221 corresponding to the top of the steel pipe 11. The ear seat side plate 21 and ear seat retaining plate 22, which are arranged in parallel in the ear seat assembly 2, are connected by a vertical plate 23. The vertical plate 23 can effectively transfer the force between the two and maintain the relative position stability of the ear seat side plate 21 and ear seat retaining plate 22, preventing relative displacement during assembly or operation. The part of the ear seat side plate 21 that is longer than the ear seat retaining plate 22 is provided with a stiffener 24, which can specifically strengthen the structural strength of the extended area of ​​the side plate and prevent deformation caused by stress concentration in this area. At the same time, the stiffener 24 can also provide auxiliary positioning reference for the assembly of the ear seat assembly 2, allowing each component to be assembled smoothly. The relative positions of the timing are easier to control; the corresponding positioning holes 25 on the ear seat side plate 21 and ear seat clamping plate 22 can be precisely matched with the positioning pins on the assembly tooling to ensure that the holes are coaxial and relatively parallel when the two are assembled, completely eliminating the problem of hole position deviation caused by manual alignment; the slot 221 at the bottom of the ear seat clamping plate 22 can be precisely engaged with the top of the steel pipe 11 of the connecting component 1, so that when the connecting component 1 and the ear seat component 2 are connected, no additional scribing adjustment is required, and quick pre-fixing can be achieved directly through the slot 221 to ensure the coaxiality and perpendicularity of the two when they are connected.

[0037] The drilling rig manipulator connecting seat includes two sets of symmetrically arranged ear seat assemblies 2. The ear seat plates 22 of the two sets of ear seat assemblies 2 are arranged opposite each other. A connecting component 1 is provided on the front side of the ear seat assembly 2. Two steel pipes 11 are respectively clamped in the slots 221 of the two ear seat plates 22. The two sets of lug assemblies 2 of the drilling rig robot connector are symmetrically arranged and the lug clamping plates 22 are set opposite each other, which makes the overall force of the connector more balanced and avoids structural damage caused by force imbalance during operation. At the same time, the symmetrical layout also makes it easier to maintain the synchronization accuracy of the docking of the connector 1 and the two sets of lug assemblies 2, reducing the overall error caused by the docking deviation on one side. The connector 1 is set on the front side of the lug assembly 2 and the steel pipe 11 is inserted into the slot 221, which allows the two to form a stable overall frame. The locking structure of the slot 221 not only improves the tightness of the connection, but also achieves pre-fixation before welding, reducing the displacement of components during the welding process. Each ear mount side plate 21 has a support 3 connected to the side away from the other ear mount side plate 21. This provides additional support for the ear mount assembly 2 and also serves as a transition structure for docking the connector with other parts of the robot, making the overall installation of the connector more stable and avoiding excessive local stress caused by direct connection to the ear mount side plate 21.

[0038] The original connector had a complex overall structure, including various parts such as steel pipe 11, ear plate, stiffening plate 24, and support 3, with intersecting spatial relationships. Manual assembly was prone to problems such as part interference and alignment difficulties. After disassembly, the structure of each component is simpler and more focused. Connecting component 1 focuses only on fixing steel pipe 11, connecting base plate 12, and connecting plate 13. Ear plate component 2 focuses on assembling ear plate side plate 21, clamping plate, and stiffening plate 24. Support 3 is an independent support component. Each component has a single processing object, more operating space, and no need to avoid other parts in the complex overall structure, which greatly reduces the processing difficulty of each step. After being disassembled, each component can be processed in parallel. The connecting component 1 and the ear assembly 2 can be manufactured simultaneously on different tooling, without waiting for the previous overall process to be completed, thus shortening the total production cycle. At the same time, the processing flow of each component is more standardized. For example, the positioning of the steel pipe 11 of the connecting component 1 and the insertion of pins into the positioning holes 25 of the ear assembly 2 can be formed into fixed steps, reducing the time for manual judgment and adjustment. Even if the skill requirements of the operators are reduced, the processing efficiency can still be guaranteed, making it more suitable for the needs of mass production.

[0039] In another specific embodiment, the connecting component assembly tooling 4 includes a first base plate 41. The first base plate 41 has a first support positioning member 42 for placing the connecting component 1. Above the first support positioning member 42 is a groove 421 for placing the connecting component 1. The two ends of the groove 421 are arc-shaped walls. A first positioning member 43 is also provided on the front and / or rear of the first base plate 41. The first base plate 41 provides a stable bearing foundation for the entire assembly process, ensuring that the tooling itself will not shake or shift during placement and operation, providing a stable reference platform for the subsequent positioning of each component. The groove 421 above the first support positioning member 42 is adapted to the structure of the connecting component 1. The arc-shaped walls at both ends of the groove 421 can tightly fit against the outer walls of the two steel pipes 11 in the connecting component 1. Through the limiting effect of the arc-shaped curved surface, the left and right displacement of the steel pipes 11 in the radial direction is restricted, ensuring that the two steel pipes 11 always maintain a preset parallel posture and spacing, avoiding structural deviations caused by the tilting or misalignment of the steel pipes 11 during assembly. The first positioning member 43 at the front and / or rear of the first base plate 41 constrains the connecting assembly 1 in the axial direction. The end of the connecting assembly 1 can fit against the first positioning member 43, thereby precisely defining the position of the steel pipe 11 and the connecting base plate 12 in the front-rear direction. The first support positioning member 42 can be a support base or two support plates arranged along the front-rear direction. The first positioning member 43 can be a baffle or a stop.

[0040] In another specific implementation, during S2, when assembling the connecting component 1, two steel pipes 11 are placed parallel to each other in the groove 421, with the outer surfaces of the steel pipes 11 respectively abutting against the arc-shaped walls of the groove 421; the connecting base plate 12 is placed on the top surface of the first support positioning member 42, with the bottom surface of the connecting base plate 12 abutting against the top surface of the groove 421, and the front and / or rear ends of the connecting base plate 12 abutting against the sides of the first positioning member 43. After positioning, the connecting base plate 12 and the steel pipes 11 are spot-welded firmly; then, multiple connecting plates 13 are assembled by marking lines and spot-welded firmly. The parallel placement of the two steel pipes 11 in the groove 421 with their outer surfaces abutting against the arc-shaped walls naturally restricts the left and right swaying of the steel pipes 11 in the radial direction, ensuring that the two steel pipes 11 always maintain a preset parallel posture and spacing. The connecting base plate 12 is placed on the top surface of the first support positioning member 42. The bottom surface of the base plate is in contact with the top surface of the groove 421 to ensure that the base plate is placed horizontally. The front end and / or rear end are in contact with the side of the first positioning member 43 to lock the position of the base plate axially, so that a stable relative positional relationship is formed between the base plate and the steel pipe 11. After positioning, the connecting base plate 12 and the steel pipe 11 are spot welded firmly. The accurate state after positioning is preserved by local fixation to prevent the components from shifting due to external forces during subsequent operations. At the same time, the temporary nature of spot welding also leaves room for possible fine adjustment. Then, multiple connecting plates 13 are assembled by scribing and spot welded firmly. The structural connection is further refined on the existing positioning reference. The scribing is based on a stable reference surface, which can ensure the relative positional accuracy of the connecting plates 13, the steel pipe 11, and the base plate. Finally, spot welding makes the connecting plates 13 form a preliminary whole with other components, enhancing the structural stability of the connecting assembly 1.

[0041] In another specific embodiment, the ear seat assembly tooling 5 includes a second base plate 51. The second base plate 51 is provided with a second support and positioning member 52 for laying the ear seat clamping plate 22 flat. The second support and positioning member 52 is provided with a positioning tube 53 having the same structure as the steel pipe 11. The front and rear parts of the second base plate 51 are also provided with second positioning members 54, each with a first positioning pin 55. The first positioning pin 55 can pass through the positioning holes 25 of the ear seat side plate 21 and the ear seat clamping plate 22. The second base plate 51 provides a stable bearing foundation for the assembly of the ear seat assembly 2. The second support and positioning member 52 is used to lay the ear seat clamping plate 22 flat, ensuring that the ear seat clamping plate 22 remains horizontal during assembly. The positioning tube 53 on the second support positioning component 52 has the same structure as the steel pipe 11, which can simulate the shape and size of the steel pipe 11 in the connecting assembly 1. The slot 221 at the bottom of the ear seat plate 22 can fit against the outer wall of the positioning tube 53, and the relative positional relationship between the slot 221 and the ear seat plate 22 is determined during the assembly stage. The second positioning components 54 at the front and rear of the second base plate 51 can be adapted to two symmetrically arranged ear seat assemblies 2 respectively, and the assembly requirements of the symmetrical structure can be met by different positioning positions of the same tooling. Among them, the second positioning component 54 has two layers of support platforms distributed at intervals along the top and bottom, corresponding to the ear seat side plate 21 and the ear seat plate 22 respectively. Insertion holes are provided on the support platforms respectively, and the first positioning pin 55 can be inserted through the two insertion holes.

[0042] In another specific implementation, in S2, when assembling the ear seat assembly 2, the ear seat side plate 21 is placed flat on the top surface of the second support positioning member 52. The positioning holes 25 of the ear seat side plate 21 are aligned with the positioning holes 25 of the ear seat side plate 21. The first positioning pin 55 is inserted into the aligned positioning holes 25. Then, lines are drawn on the ear seat side plate 21, and the upright plate 23 and the stiffening plate 24 are placed and spot-welded firmly. Next, the ear seat retaining plate 22 is placed above the ear seat side plate 21. The bottom surface of the ear seat side plate 21 is attached to the top surface of the upright plate 23. The positioning holes 25 of the ear seat retaining plate 22 are inserted into the first positioning pin 55. The side surface and the retaining groove 221 are attached to the positioning tube 53, and the lower surface is attached to the support surface of the second positioning member 54. After positioning, it is spot-welded firmly. The ear seat side plate 21 is placed flat on the top surface of the second support positioning member 52. The flatness of the support surface ensures its horizontal posture, providing a stable reference for the assembly of subsequent components. After the positioning holes 25 of the ear seat side plate 21 are aligned, the first positioning pin 55 is inserted. The engagement of the pin and the hole forces the coaxiality of the hole position, limiting the horizontal displacement of the ear seat side plate 21. The upright plate 23 and the stiffening plate 24 are placed on the ear seat side plate 21 and spot welded. The marking is based on the accurately positioned ear seat side plate 21, which can ensure the relative positional accuracy of the upright plate 23 and the stiffening plate 24 with the ear seat side plate 21. The spot welding preserves the position after positioning through local fixation. When the ear seat clamping plate 22 is placed above the ear seat side plate 21, the bottom surface is in contact with the top surface of the upright plate 23 to ensure the vertical alignment of the two. The positioning hole 25 is inserted into the first positioning pin 55 to further consolidate the coaxial and parallel relationship with the hole position of the ear seat side plate 21. The side and the clamping groove 221 are in close contact with the positioning tube 53, which uses the positioning tube 53 to simulate the structure of the subsequent steel pipe 11.

[0043] In another specific implementation, in step S3, the two sets of ear-mount assemblies 2 are first placed upright on the connecting seat assembly tooling 6 and positioned accordingly. Then, the support 3 is placed on the connecting seat assembly tooling 6 and positioned against the ear-mount side plate 21 of the ear-mount assembly 2. Finally, the two steel pipes 11 of the connecting component 1 are inserted into the ear-mount retaining plates 221 of the two sets of ear-mount assemblies 2 to complete the positioning. Placing the two sets of ear-mount assemblies 2 upright on the connecting seat assembly tooling 6 and positioning them first can ensure that the two sets of ear-mount assemblies 2 always maintain the preset left-right symmetry and vertical posture with the help of the tooling's limiting structure. This provides a unified and stable benchmark for the subsequent assembly of the support 3 and the connecting component 1, avoiding the symmetry deviation of the overall structure caused by the positional offset of the ear-mount assembly 2, and controlling the overall layout accuracy of the connecting seat from the source. Next, the support 3 is placed on the connecting seat assembly tooling 6 and positioned against the ear seat side plate 21 of the ear seat assembly 2. This allows the support 3 and the ear seat side plate 21 to form a tight positional fit. The precise position of the ear seat side plate 21 serves as a reference to limit the installation orientation of the support 3, preventing the support 3 from shifting forward, backward, or left or right. This ensures the connection stability between the support 3 and the ear seat assembly 2 and also provides a precise installation interface for docking the entire connecting seat with other parts of the robot, avoiding repeated adjustments due to positional deviations of the support 3 during subsequent docking. Finally, the two steel pipes 11 of the connecting assembly 1 are inserted into the slots 221 of the ear seat plate 22 to complete the positioning. The contact and limiting effect between the slots 221 and the outer wall of the steel pipes 11 allows for quick and precise docking of the connecting assembly 1 and the ear seat assembly 2. No additional marking or manual calibration is required, ensuring the coaxiality and perpendicularity of the steel pipes 11 and the ear seat plate 22, reducing the manual alignment operation and error risks.

[0044] In another specific implementation, the connecting seat assembly tooling 6 includes a third base plate 61. The third base plate 61 is provided with a third support positioning member 62 for simultaneously erecting two sets of ear seat assemblies 2. A third positioning member 63 is also provided at the front or rear of the third base plate 61. The third positioning member 63 is provided with a second positioning pin 64, which can pass through the positioning holes 25 of the two sets of ear seat side plates 21 and ear seat retaining plates 22. Fourth support positioning members 65 for placing supports 3 are respectively provided on the left and right sides of the third support positioning member 62. The third base plate 61 provides a stable bearing foundation for the overall assembly, ensuring that the tooling will not shake or shift during operation, and providing a stable platform for the precise functioning of each positioning structure. The third support positioning member 62 is used to simultaneously erect two sets of ear seat assemblies 2. The third positioning member 63 at the front or rear of the third base plate 61 provides a mounting carrier for the second positioning pin 64. The second positioning pin 64 passes through the positioning holes 25 of the two sets of ear seat side plates 21 and ear seat retaining plates 22, which can force the positioning holes 25 of the two sets of ear seats to be coaxial, and at the same time lock the relative positions of the two sets of ear seats in the horizontal direction. The fourth support positioning members 65 on the left and right sides are specifically used to place the support 3. Their positions correspond one-to-one with the ear seat side plates 21 of the two sets of ear seat assemblies 2, which can provide a horizontal and stable placement reference for the support 3, allowing the support 3 to be naturally in the preset position that fits against the ear seat side plates 21. The second positioning pin 64 on the third support positioning member 62 can be a single piece that passes through both sets of ear seat assemblies 2 at the same time, or it can be two separate pieces that pass through the two sets of ear seat assemblies 2 respectively.

[0045] In another specific implementation, in S3, the two sets of ear seat assemblies 2 are symmetrically placed on both sides of the third support positioning member 62 in an upright position, with the slots 221 of the ear seat assembly 2 facing upwards, and the outer side of the ear seat side plate 21 fitting against the inner side of the fourth support positioning member 65; the second positioning shaft passes through the positioning holes 25 of the two sets of ear seat assemblies 2. The ear seat assembly 2 is symmetrically positioned on both sides of the third support positioning member 62 in an upright posture, with the two sides of the third support positioning member 62 providing limiting position. The slot 221 of the ear seat assembly 2 faces upward, which can reserve docking space for the steel pipe 11 of the connecting assembly 1 in advance, so that the slot 221 is in a posture that facilitates the insertion of the steel pipe 11. The outer side of the ear seat side plate 21 is in contact with the inner side of the fourth support positioning member 65. The rigid limiting position of the fourth support positioning member 65 further locks the lateral position of the ear seat assembly 2. At the same time, with the fourth support positioning member 65 as a reference, it is ensured that the outer side of the ear seat side plate 21 is in a preset plane, providing a flat and stable docking surface for the subsequent fitting and positioning of the support 3 and the ear seat side plate 21. The second positioning shaft passes through the positioning holes 25 of the two sets of ear seat assemblies 2, which can force the positioning holes 25 of the two sets of ear seats to be coaxial, lock the relative position of the two from the axial direction, and limit the displacement in the front and rear directions.

[0046] In another specific implementation, in S3, the support 3 is positioned on the top surface of the fourth support positioning member 65. The inner wall of the support 3 is in contact with the outer wall of the ear side plate 21 of the ear assembly 2, and the bottom surface of the support 3 is in contact with the top surface of the fourth support positioning member 65. The flat surface of the fourth support positioning member 65 ensures that the support 3 is always in a horizontal position, preventing height differences caused by tilting of the placement surface. The inner wall of the support 3 is in contact with the outer wall of the ear side plate 21 of the ear assembly 2, binding the lateral position of the support 3 to the precisely positioned ear side plate 21, thus restricting the displacement of the support 3 in the left and right directions.

[0047] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. The present invention extends to any new features or combinations disclosed in this specification, and any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention. It is obvious to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and that detailed technical features not disclosed in this embodiment, such as specific structures, are all prior art and can be obtained by those skilled in the art from the prior art; the connection method can be a fixed connection, a detachable connection, or an integral part; it can be a fixed connection, a movable connection, or a hinged connection; it can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific manner of the above terms in the embodiments of the present invention according to the specific circumstances, and the present disclosure does not specifically limit this aspect.

Claims

1. A method for positioning and assembling a connecting seat for a drilling rig robot, characterized in that: Includes the following steps: S1. The drilling rig robot arm connector is divided into a connector assembly (1), an ear assembly (2), and a support (3). S2. The tooling (4) is connected to the connecting component (1) through the connecting component group, and the tooling (5) is connected to the ear seat component (2) through the ear seat group. S3. The connecting assembly (1), ear assembly (2) and support (3) are assembled as a whole using the tooling (6) with the connecting seat assembly; in: The connecting assembly (1) includes two steel pipes (11) arranged in parallel and connected by a connecting base plate (12). The ear socket assembly (2) includes ear socket side plates (21) and ear socket retaining plates (22) arranged in parallel. The ear seat side plate (21) and ear seat retaining plate (22) are respectively provided with through positioning holes (25); The drilling rig manipulator connector includes two sets of symmetrically arranged lug assemblies (2); The connecting component assembly tooling (4) includes a first base plate (41), on which a first support positioning member (42) for placing the connecting component (1) is provided. The first support positioning member (42) has a groove (421) for placing the connecting component (1) above it. The two ends of the groove (421) are arc-shaped walls. The first positioning member (43) is also provided on the front and / or rear of the first base plate (41). The ear seat assembly tooling (5) includes a second base plate (51), on which a second support positioning member (52) for laying the ear seat clamping plate (22) flat is provided, and on which a positioning tube (53) with the same structure as the steel pipe (11) is provided; the front and rear parts of the second base plate (51) are also provided with second positioning members (54), and the second positioning members (54) are provided with first positioning pins (55), which can be inserted into the positioning holes (25) of the ear seat side plate (21) and the ear seat clamping plate (22); The connecting seat assembly tooling (6) includes a third base plate (61), on which a third support positioning component (62) is provided for simultaneously placing two sets of ear seat assemblies (2). A third positioning component (63) is also provided at the front or rear of the third base plate (61). A second positioning pin (64) is provided on the third positioning component (63). The second positioning pin (64) can be inserted into the positioning holes (25) of the two sets of ear seat side plates (21) and ear seat clamping plates (22). A fourth support positioning component (65) for placing the support (3) is provided on the left and right sides of the third support positioning component (62).

2. The drilling rig robot arm connecting seat positioning and assembly method as described in claim 1, characterized in that: Multiple connecting plates (13) are also provided between the two steel pipes (11); The ear seat side plate (21) and the ear seat clamping plate (22) are connected by a vertical plate (23). The ear seat side plate (21) is longer than the ear seat clamping plate (22), and at least one stiffening plate (24) is provided on the part of the ear seat side plate (21) that is longer than the ear seat clamping plate (22). The bottom of the ear seat clamping plate (22) is provided with a groove (221) corresponding to the top of the steel pipe (11). The ear seat plates (22) of the two sets of ear seat assemblies (2) are arranged opposite to each other. The connecting component (1) is arranged on the front side of the ear seat assembly (2). The two steel pipes (11) are respectively clamped in the slots (221) of the two ear seat plates (22). Each of the ear seat side plates (21) is connected to the support (3) on the side away from the other ear seat side plate (21).

3. The drilling rig robot arm connecting seat positioning and assembly method as described in claim 2, characterized in that: In S2, when assembling the connecting component (1), two steel pipes (11) are placed parallel to each other in the groove (421), and the outer side of the steel pipes (11) is in contact with the arc-shaped wall of the groove (421); the connecting base plate (12) is placed on the top surface of the first support positioning member (42), the bottom surface of the connecting base plate (12) is in contact with the top surface of the groove (421), and the front end and / or rear end of the connecting base plate (12) are in contact with the side of the first positioning member (43). After positioning, the connecting base plate (12) and the steel pipes (11) are spot welded firmly; then multiple connecting plates (13) are assembled by marking lines and spot welded firmly.

4. The drilling rig robot arm connecting seat positioning and assembly method as described in claim 2, characterized in that: In S2, when assembling the ear seat assembly (2), the ear seat side plate (21) is placed flat on the top surface of the second support positioning component (52), the first positioning pin (55) is inserted into the positioning hole (25), then lines are drawn on the ear seat side plate (21), the upright plate (23) and the stiffener plate (24) are placed and spot welded firmly; then the ear seat clamping plate (22) is placed above the ear seat side plate (21), the bottom surface of the ear seat clamping plate (22) is attached to the top surface of the upright plate (23), the positioning hole (25) of the ear seat clamping plate (22) is inserted into the first positioning pin (55), the side and the slot (221) are attached to the positioning tube (53), the lower plane is attached to the support surface of the second positioning component (54), and the positioning is spot welded firmly.

5. The drilling rig robot arm connecting seat positioning and assembly method as described in claim 2, characterized in that: In S3, first, the two sets of ear seat assemblies (2) are placed upright on the connecting seat assembly tooling (6) and positioned. Then, the support (3) is placed on the connecting seat assembly tooling (6) and positioned in contact with the ear seat side plate (21) of the ear seat assembly (2). Finally, the two steel pipes (11) of the connecting assembly (1) are inserted into the ear seat plate (22) slot (221) of the two sets of ear seat assemblies (2) to complete the positioning.

6. The drilling rig robot connecting seat positioning and assembly method as described in claim 5, characterized in that: In S3, the two sets of ear seat assemblies (2) are symmetrically placed on both sides of the third support positioning member (62) in an upright position, and the slot (221) of the ear seat assembly (2) faces upward, and the outer side of the ear seat side plate (21) is in contact with the inner side of the fourth support positioning member (65); the second positioning pin is inserted into the positioning hole (25) of the two sets of ear seat assemblies (2).

7. The drilling rig robot connecting seat positioning and assembly method as described in claim 5, characterized in that: In S3, the support (3) is placed on the top surface of the fourth support positioning member (65), the inner side wall of the support (3) is in contact with the outer side wall of the ear seat side plate (21) of the ear seat assembly (2), and the bottom surface of the support (3) is in contact with the top surface of the fourth support positioning member (65).

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