Power-assisted manipulator for operation of drilling machine

Abstract

The invention provides a drilling machine operation assisting manipulator, relates to the technical field of geotechnical engineering drilling, and solves the technical problems that in the prior art, an anchor rod drilling machine drill pipe is too heavy, the labor intensity of manual carrying is high, personnel fatigue is easily caused by long-time operation, and safety risks such as high-altitude falling and heavy object smashing injury are increased. The drilling machine operation assisting manipulator comprises a supporting mechanism used for horizontally bearing an inner pipe and an outer pipe, the inner pipe is arranged in the outer pipe, and part of the inner pipe extends out of one end of the outer pipe; the magnetic attraction mechanism comprises a first magnetic attraction assembly and a second magnetic attraction assembly which are used for grabbing the inner pipe and the outer pipe correspondingly, and the inner pipe and the outer pipe are kept in a coaxial state by adjusting the distance between the inner pipe and the outer pipe in the grabbing process; and the rotating mechanism is connected with the magnetic attraction mechanism and is used for driving the magnetic attraction mechanism to carry the pipe fitting for angle adjustment and position adjustment after the pipe fitting is grabbed by the magnetic attraction mechanism, and transferring and butt joint of the pipe fitting from the storage position to the drilling machine are completed.

Description

Technical Field

[0001] This invention relates to the field of geotechnical drilling technology, and in particular to a drilling rig operation assistance robot. Background Technology

[0002] In the field of geotechnical engineering support construction, anchor drilling rigs are the core equipment for anchoring support in deep foundation pits, high slopes, and other structures. They typically employ a nested drill pipe structure of "outer pipe + inner pipe" to meet the needs of multiple operations such as impact rotary drilling and grouting anchoring. For deep geotechnical support scenarios, anchor drilling rigs often need to complete drilling operations to depths of over 100 meters. The drill pipe for this depth operation needs to be composed of multiple nested drill pipe sections connected one by one. After the drilling operation is completed, the drill rig needs to be rotated in reverse to rotate the drill pipe section by section. Then, workers disassemble each section of the drill pipe from the drill rig and transport it to a designated area.

[0003] Currently, the transportation and loading / unloading of these nested drill pipes mainly rely on manual labor. Since each section of the drill pipe (including the outer and inner pipes) is typically over 2 meters long and weighs 50-150 kg, deep soil and rock support projects usually require dozens of drill pipes. Furthermore, construction sites are often narrow / muddy areas such as foundation pits and slopes, lacking space for large hoisting equipment. Therefore, 2-3 workers are needed on-site to collaboratively move the drill pipes and manually connect them to the drilling rig's power head. This method has significant drawbacks: firstly, manual handling is labor-intensive, and prolonged work can easily lead to worker fatigue, increasing safety risks such as falls from heights and injuries from falling heavy objects; secondly, manual docking is inaccurate and slow, with loading and unloading a single drill pipe taking 5-10 minutes, severely restricting the overall construction efficiency of anchor bolt drilling rigs. Especially in large-scale anchor bolt support projects, manual handling has become one of the main bottlenecks in construction progress.

[0004] Meanwhile, while general-purpose material handling devices exist in existing engineering machinery, their dimensions cannot be adapted to the unique "nested double-pipe" structure of anchor drilling rigs. Furthermore, they are ill-suited for the dynamic position adjustments required during drilling operations and cannot be directly applied to precise handling and docking of the drill pipe. Therefore, there is an urgent need for an automated handling device that adapts to the nested drill pipe structure and can be linked with anchor drilling rigs to address the safety and efficiency issues associated with manual handling. Summary of the Invention

[0005] The purpose of this invention is to provide a drilling rig operation assistive robot to solve the technical problems in the prior art where the drill pipe of the anchor drilling rig is too heavy, the manual handling is labor-intensive, prolonged operation easily leads to personnel fatigue, and increases the safety risks such as falls from heights and injuries from falling heavy objects. The various technical effects of the preferred technical solutions provided by this invention are detailed below.

[0006] To achieve the above objectives, the present invention provides the following technical solution: A drilling rig operation assistive robot is used to transfer drilling rig fittings from their storage location to the drilling rig and complete the connection. The drilling rig fittings include inner and outer pipes, comprising: A support mechanism is used to horizontally support the inner tube and the outer tube, and to place the inner tube inside the outer tube and partially extend out from one end of the outer tube; The magnetic attraction mechanism includes a first magnetic attraction component and a second magnetic attraction component, which are used to grasp the inner tube and the outer tube respectively, and to keep the inner tube and the outer tube coaxial by adjusting the distance between the inner tube and the outer tube. The rotating mechanism, connected to the magnetic suction mechanism, is used to drive the magnetic suction mechanism to carry the pipe for angle and position adjustment after the magnetic suction mechanism grabs the pipe, so as to complete the transfer and docking of the pipe from the storage position to the drilling rig.

[0007] Furthermore, the magnetic attraction mechanism also includes a support and a drive assembly; The bracket is connected to the rotating mechanism, and the first magnetic attraction component and the second magnetic attraction component are slidably assembled on the bracket; The drive assembly is used to drive the first magnetic attraction assembly and the second magnetic attraction assembly to slide along the axial direction of the pipe on the bracket so that the pipe can be connected to the drilling rig.

[0008] Furthermore, the rotating mechanism includes The base is used to support the support mechanism; The base column is fixedly connected to the base. The robotic arm component is rotatably connected to the base column and is used to adjust the horizontal working position of the magnetic suction mechanism; A height adjustment component is installed at the end of the robotic arm component and is used to adjust the vertical working height of the magnetic attraction mechanism; A rotating component, connected to the height adjustment component, is used to drive the magnetic attraction mechanism to rotate around the axis of rotation of the height adjustment component, thereby adjusting the working angle of the magnetic attraction mechanism.

[0009] Furthermore, the robotic arm component includes a first rotation assembly, a second rotation assembly, a first extension rod, and a second extension rod; The first rotation component rotates around a rotation axis that is perpendicular to the horizontal placement direction of the inner tube and the outer tube, and the first extension rod is connected to the first rotation component; The second rotation component is connected in series with the first rotation component through the first extension rod, and rotates around a rotation axis that is perpendicular to the horizontal placement direction of the inner tube and the outer tube; The second extension rod is connected to the second rotation assembly and provides a connection mounting position for the height adjustment component.

[0010] Furthermore, the height adjustment component includes a fourth hydraulic cylinder, a guide rod, and a connecting assembly; The connecting assembly is used to connect the fourth hydraulic cylinder and the second extension rod; The piston rod of the fourth oil cylinder is connected to the magnetic attraction mechanism, which is used to drive the magnetic attraction mechanism to move in a direction perpendicular to the length of the second extension rod. The guide rod is slidably inserted through the connecting assembly, and one end is connected to the magnetic attraction mechanism to limit the movement trajectory of the magnetic attraction mechanism.

[0011] Furthermore, the connecting assembly includes a third column base, a third extension rod, and a locating pin; The second extension rod has an adjustment groove along its length on the side facing the connecting assembly, and the third extension rod is movably inserted into the adjustment groove; The third column base is fixed to the end of the third extension rod, the fourth oil cylinder is fixed to the third column base, and the third column base is provided with a guide hole for the guide rod to slide. The third extension rod has multiple evenly arranged adjustment holes extending through it along its length, and the second extension rod has positioning holes extending through it. The positioning pin passes through the positioning hole and any adjustment hole in sequence to fix the relative position of the third extension rod and the second extension rod.

[0012] Furthermore, the rotating component includes a base frame, a third drive component, a transmission sleeve, and an adjustment assembly; The base frame is fixed to the output end of the height adjustment component, and the transmission sleeve is rotatably mounted on the output end of the height adjustment component. The third driving component is fixed on the base frame and is used to drive the transmission sleeve to rotate; The adjustment component is used to connect the transmission sleeve and the support of the magnetic attraction mechanism, driving the support to rotate synchronously.

[0013] Furthermore, the adjustment assembly includes a connecting plate and a fifth hydraulic cylinder; One end of the connecting plate is fixedly connected to the transmission sleeve, and the other end is hinged to the bracket of the magnetic attraction mechanism; The fifth cylinder has a connecting lug fixed on its cylinder liner, and the connecting lug is hinged to the circumferential side wall of the transmission sleeve. The piston rod of the fifth cylinder is hinged to the bracket; By extending and retracting the piston rod of the fifth cylinder, the drive bracket rotates around the hinge point between the connecting plate and the bracket, and the axial direction of the hinge point is perpendicular to the driving direction of the first magnetic attraction component and the second magnetic attraction component.

[0014] Furthermore, the support mechanism includes a support frame and multiple protrusions; The protrusions are arranged linearly and evenly along the top of the support frame, with the arrangement direction perpendicular to the length extension direction of the inner and outer tubes, to prevent the outer tube from sliding on the support frame along its own length direction. When the inner tube is placed, one end extends a predetermined distance from the top of the protrusion into the outer tube.

[0015] Furthermore, the support mechanism also includes a support block and a sixth hydraulic cylinder; The support block is fixedly installed in the middle of the bottom surface of the support frame, serving as the fulcrum for the swing of the support frame; The piston rod of the sixth cylinder is hinged to the side wall of the support frame, which is used to push the support frame to tilt, so that the inner tube and the outer tube roll to the lower side of the support frame under the action of gravity.

[0016] This invention utilizes a magnetic attraction mechanism with first and second electro-permanent magnets to precisely attract the inner and outer pipes of the drilling rig, respectively. Combined with the multi-angle movement function of a rotating mechanism, it successfully replaces manual handling of heavy drill pipes by operators. This not only completely avoids safety hazards such as falls from heights and injuries from falling heavy objects due to fatigue from strenuous physical labor in narrow / muddy construction sites, but also uses the rotating mechanism to drive the magnetic attraction mechanism to achieve precise docking between the drill pipe and the drilling rig's power head, shortening the loading and unloading time of a single drill pipe and significantly improving the overall construction efficiency of the anchor drilling rig. Furthermore, for the special structure of the nested drill pipe with outer and inner pipes, the independent control of the electro-permanent magnet extension and retraction by the first and second hydraulic cylinders, along with a support mechanism, adapts to the horizontal placement of the nested drill pipe. This effectively solves the problem that general material handling devices cannot adapt to this special structure, achieving dedicated automated handling of nested drill pipes. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the overall structure provided in an embodiment of the present invention; Figure 2 This is a partial internal structure schematic diagram provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of a portion of the magnetic attraction mechanism provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of the first motion of a portion of the magnetic attraction mechanism provided in an embodiment of the present invention; Figure 5 This is a schematic diagram of the second motion of a portion of the magnetic attraction mechanism provided in an embodiment of the present invention; Figure 6 This is provided by the embodiments of the present invention. Figure 2 Enlarged view of point Q; Figure 7 This is provided by the embodiments of the present invention. Figure 2 Enlarged view of point W; Figure 8 This is provided by the embodiments of the present invention. Figure 2 Enlarged view of point E; Figure 9 This is provided by the embodiments of the present invention. Figure 2 Enlarged view of point R; Figure 10 This is a schematic diagram of the support mechanism provided in an embodiment of the present invention.

[0019] Explanation of reference numerals in the attached drawings: 100, base; 110, hydraulic support; 120, driving component; 200, support mechanism; 210, support frame; 220, protrusion; 230, pin hole; 240, connecting pin; 250, support block; 260, sixth cylinder; 300, rotating mechanism; 310, first support column; 311, first column sleeve; 312, first extension rod; 313, first driving component; 314, first column seat; 315, first driving gear; 316, first positioning gear; 320, second column sleeve; 321, second column seat; 322, second driving component; 323, second driving gear; 324, second positioning gear; 325, second support column; 326 330. Second extension rod; 331. Connecting assembly; 332. Third column base; 333. Guide rod; 334. Fourth hydraulic cylinder; 335. Third extension rod; 336. Positioning hole; 337. Adjustment hole; 340. Positioning pin; 341. Base frame; 342. Third driving component; 343. Third driving gear; 344. Third positioning gear; 352. Transmission sleeve; 350. Connecting plate; 351. Fifth hydraulic cylinder; 400. Connecting ear; 410. Magnetic attraction mechanism; 420. Bracket; 430. Third hydraulic cylinder; 440. Slider; 450. Slide rail; 461. Support; 462. First hydraulic cylinder; 463. First electro-permanent magnet; 464. Second electro-permanent magnet. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be described in detail below. Obviously, the described embodiments are merely some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other implementation methods obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0021] In the description of this invention, it should be noted that, unless otherwise stated, "a plurality of" means two or more; the terms "upper," "lower," "left," "right," "inner," "outer," "front end," "rear end," "head," "tail," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first," "second," "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0022] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0023] The drilling rig operation assistive robot disclosed in this invention aims to solve the technical problems of low efficiency, high labor intensity, and high safety risks in the manual transfer and docking of nested drill pipe fittings (including inner and outer pipes) in existing anchor drilling rigs. Through the coordinated cooperation of the support mechanism, magnetic attraction mechanism, and rotation mechanism, it realizes automatic picking and placing of drill pipe, coaxial calibration, multi-position adjustment, and precise docking, adapting to the operation needs of different construction scenarios.

[0024] To achieve the above-mentioned objectives, the present invention includes a support mechanism for horizontally supporting the inner and outer tubes, with the inner tube positioned inside the outer tube and partially extending from one end of the outer tube; a magnetic suction mechanism, including a first magnetic suction component and a second magnetic suction component, for gripping the inner and outer tubes respectively, and adjusting the distance between the inner and outer tubes during the gripping, transport, or installation process, preferably keeping the inner and outer tubes coaxial; and a rotating mechanism connected to the magnetic suction mechanism, for driving the magnetic suction mechanism to carry the tube for angle and position adjustments after the magnetic suction mechanism grips the tube, thereby completing the transport and docking of the tube from its storage location to the drilling rig.

[0025] In current drilling rig pipe installation processes, the inner and outer pipes are separated, but the inner pipe is placed inside the outer pipe. During transfer, at least two workers are needed to support the pipe with their arms to maintain the inner pipe within the outer pipe. After moving the pipe to the work position, one worker aligns one end of the inner pipe with the drilling rig, while another adjusts the angle of the pipe to install it behind the rig. Then, the outer pipe is manually lifted to be coaxial with the inner pipe and fed into the rig's clamping mechanism to secure it. Finally, the outer pipe is connected to the rotating rig to complete the installation. Using the robotic arm of this invention, one end of the inner pipe extends from the outer pipe onto the support mechanism, forming a gripping posture. Then, a magnetic suction mechanism grips both the inner and outer pipes. A rotating mechanism moves the pipe to the work position, and the angle of the pipe is adjusted to align with the drilling rig's installation port. The pipe is then released, completing the installation operation. The above operations utilize robotic arms to install heavy-duty pipe components, replacing the traditional method of 2-3 manual laborers coordinating the handling. This avoids direct manual transport of heavy drill pipes, eliminating safety risks such as falls from heights and injuries from falling heavy objects due to fatigue from prolonged work, thus ensuring the personal safety of construction personnel. Furthermore, it reduces the time required for transporting and connecting a single drill pipe from 5-10 minutes manually to 1-2 minutes, significantly improving the overall construction efficiency of the anchor drilling rig, and is particularly suitable for the continuous operation requirements of large-scale anchor support projects.

[0026] The following is in conjunction with the appendix Figure 1-10 This application will be described in further detail.

[0027] Example 1 Reference Figure 1 and Figure 2 As shown, the drilling rig operation assistive manipulator includes a support mechanism 200, a magnetic attraction mechanism 400, and a rotating mechanism 300. The support mechanism 200 is used to horizontally support the inner and outer pipes, and to place the inner pipe inside the outer pipe with a partial extension. Specifically, after the operator inserts the inner pipe into the outer pipe, they are placed together on the support mechanism 200, with one end of the inner pipe extending out of the outer pipe. Under the action of gravity, the inner pipe is eccentrically attached to the inner wall of the outer pipe, thereby completing the horizontal support and placement of the inner and outer pipes in the predetermined position.

[0028] The magnetic suction mechanism 400 includes a first magnetic suction assembly and a second magnetic suction assembly, used to grip the inner and outer tubes respectively. During this process, the inner and outer tubes can be adjusted to be coaxial to prepare for subsequent installation. Specifically, the first magnetic suction assembly includes a first hydraulic cylinder 461 and a first electro-permanent magnet 463, and the second magnetic suction assembly includes a second hydraulic cylinder 462 and a second electro-permanent magnet 464. The first electro-permanent magnet 463 and the second electro-permanent magnet 464 are respectively fixed to the piston rod ends of the first hydraulic cylinder 461 and the second hydraulic cylinder 462 by bolts. The electro-permanent magnets are selected with a magnetic attraction force of up to 300 kg to ensure stable gripping of the drill pipe and to maintain the magnetic attraction state even after power failure, avoiding the risk of falling off during power outages.

[0029] The specific grasping process is as follows: The rotating mechanism 300 is activated, moving the connected magnetic attraction mechanism 400 directly above the inner and outer tubes. Subsequently, the first hydraulic cylinder 461 and the second hydraulic cylinder 462 extend their piston rods, causing the first electro-permanent magnet 463 and the second electro-permanent magnet 464 to approach and attract the outer walls of the inner and outer tubes, respectively. After the attraction stabilizes, the first permanent magnet attracting the inner tube is controlled to rise a preset distance, causing the inner and outer tubes to move radially relative to each other and disengage, in order to proceed to the next transfer operation. This preset distance is preferably the difference in radius between the inner and outer tubes.

[0030] Next, the control mechanism 300 drives the magnetic attraction mechanism 400 and the pipe fittings to move above the docking area of ​​the drilling rig power head, aligning the pipe fitting axis with the drilling rig power head axis for transfer and alignment. Upon reaching the designated position, one end of the inner pipe docks with the drilling rig installation section. The first permanent magnet 463 is reverse-energized, the magnetic force disappears, and the inner pipe is released into the installation state. After the inner pipe is installed in place, the outer pipe falls into the drilling rig power head docking position. At this time, the control mechanism 464 is reverse-energized, the magnetic force disappears, the outer pipe is released, and the outer pipe rotation docking is completed. The first hydraulic cylinder 461 and the second hydraulic cylinder 462 retract their piston rods, and the rotation mechanism 300 drives the magnetic attraction mechanism 400 to reset to the initial position, completing a single transfer and docking operation.

[0031] In this embodiment, during the gripping, transporting, and installation processes, the coaxial posture of the inner and outer pipes can be achieved by controlling the extension and retraction strokes of the first hydraulic cylinder 461 and the second hydraulic cylinder 462. This provides a foundation for the precise docking of the pipe fittings with the drilling rig and reduces the probability of docking jamming. Furthermore, the use of electro-permanent magnet adsorption provides a magnetic force of up to 300 kg, stably adsorbing conventional drill pipes weighing 50-150 kg. The magnetic attraction remains even after power failure, preventing pipe fittings from falling off due to power outages and improving operational reliability.

[0032] Example 2 Reference Figures 2 to 5 As shown, the magnetic attraction mechanism 400 also includes a bracket 410 and a drive assembly. The bracket 410 is a rectangular frame structure, serving as the supporting foundation for the magnetic attraction mechanism 400 and preventing wobbling of the components during operation. One end is fixedly connected to the rotating mechanism 300 in Embodiment 1, and the other end is reserved for the installation position of the drive assembly, realizing the stable assembly of the magnetic attraction assembly.

[0033] The drive assembly includes a support 450, a third hydraulic cylinder 420, a slide rail 440, and a slider 430. The slide rail 440 is bolted to the bottom of the bracket 410. The slider 430 and the slide rail 440 have a high-precision sliding fit, with grease applied to the mating surfaces to ensure smooth, uninterrupted sliding of the slider 430 and maintain the straightness of its axial movement. Its sliding direction is perpendicular to the extension and retraction direction of the piston rods of the first and second hydraulic cylinders 461 and 462. The support 450 and the slider 430 are integrally welded together, ensuring a secure connection and allowing the slider 430 to slide smoothly and synchronously along the slide rail 440 without jamming or deviation.

[0034] The cylinder bodies of the first cylinder 461 and the second cylinder 462 are both fixedly connected to the support 450 by bolts, and their extension and retraction directions are perpendicular to the axial extension direction of the pipe fitting during use. The third cylinder 420 (model with rated thrust ≥5000N) is fixedly connected to the side wall of the bracket 410 by a flange, and its piston rod penetrates the side wall of the bracket 410 and is fixedly connected to the support 450, forming a direct drive structure. This structure has a short transmission path and low power loss, and can accurately push the support 450 to slide linearly along the extension direction of the slide rail 440, realizing fine adjustment of the lateral position of the magnetic suction assembly.

[0035] When the rotating mechanism 300 drives the magnetic attraction mechanism 400 and the attracted pipe to move above the docking area of ​​the drilling rig power head, and the height of the pipe is adjusted to be flush with the docking interface, the third cylinder 420 of the drive assembly is activated. The piston rod of the third cylinder 420 extends or retracts, driving the cylinder bodies of the first cylinder 461 and the second cylinder 462 to move synchronously through the support 450.

[0036] Since the bottom of the cylinder bodies of the first cylinder 461 and the second cylinder 462 are fixed to the support 450, and the slider 430 is slidably engaged with the slide rail 440 at the bottom of the bracket 410, the slider 430 slides linearly along the slide rail 440, and the sliding direction is consistent with the axial direction of the inner and outer tubes. During installation, after the inner tube is connected to the drilling rig mounting part, the first electro-permanent magnet 463 is reverse-energized, the magnetic force disappears, and the inner tube is released to enter the installation state; after the inner tube is installed, the third cylinder 420 is controlled to drive the second electro-permanent magnet 464 to move the outer tube axially, and the outer tube enters the drilling rig outer tube mounting position. At this time, the second electro-permanent magnet 464 is reverse-energized, the magnetic force disappears, the outer tube is released, and the drilling rig completes the rotational connection of the outer tube. Subsequently, the piston rod of the third cylinder 420 is reset, driving the magnetic attraction assembly back to the initial position.

[0037] This embodiment uses precise control of the extension and retraction of the piston rod of the third hydraulic cylinder 420 to drive the outer tube to make fine adjustments along its own axis, so that the end of the outer tube is precisely aligned with the interface of the drilling rig's power head. Since the outer tube and the inner tube remain coaxial, the outer tube directly enters the installation position during axial movement, which can improve the axial alignment accuracy of the outer tube. In this process, there is no need to manually lift the outer tube to assist in alignment, solving the problems of long installation time and high installation difficulty in the existing installation process.

[0038] In addition, the rectangular frame structure of the bracket 410 greatly improves the overall rigidity of the magnetic attraction mechanism 400. When gripping heavy drill pipes weighing up to 150kg, it can prevent the magnetic attraction components from deflecting and deforming, ensuring that the pipe remains in a horizontal position after being attracted, and further guaranteeing the docking accuracy.

[0039] Example 3 Reference Figures 5 to 9 As shown, the base 100 is made of high-strength alloy rectangular plate, and the tracked drive component 120 is installed at the bottom. The drive component 120 adopts a mature tracked transport device in the existing technology. The device has been market-proven in terms of adaptability and reliability, which can ensure the mobility of the drilling rig's operating robot in unpaved areas such as mud, soft ground, and gravel. The specific details of this example will not be disclosed in detail.

[0040] Four independently controlled hydraulic supports 110 are installed at the four corners of the base 100. The support mechanism 200 is fixed to the top surface of the base 100 with bolts, realizing the overall movement and stable support of the device. The tracked drive component 120 realizes the overall movement of the device. In conjunction with the subsequent serial robotic arm component, height adjustment component, and rotating component, it can cover multiple drill pipe storage positions and drilling rig docking positions in complex sites such as foundation pits and slopes, without the need for frequent equipment deployment. The independent leveling function of the hydraulic supports 110 can adapt to uneven ground such as slopes and potholes, ensuring that the device does not shake during operation, enhancing operational stability and safety; the integrated load-bearing structure of the base 100 can distribute the operating load and reduce the risk of component deformation.

[0041] The base column 130 is vertically welded to the top surface of the base 100, with its axial direction perpendicular to the horizontal placement axis of the pipe fitting, providing a stable support foundation and rotation zero point for the rotating mechanism. A rigid connection is formed between the base column 130 and the base 100 via vertical welding or bolts, ensuring the precise rotation center of the rotating mechanism and preventing offset issues caused by unstable support during subsequent operations, thus providing a stable foundation for multi-dimensional attitude adjustment.

[0042] The robotic arm components, arranged in series, include a first rotating assembly, a second rotating assembly, a first extension rod 312, and a second extension rod 326. The coordinated movement of these two series-connected robotic arm units expands the operational coverage radius, significantly improving the operational range and docking flexibility. Simultaneously, the coordinated operation of the first and second rotating assemblies enables the magnetic suction mechanism 400 to possess dual-degree-of-freedom rotational adjustment capabilities, flexibly avoiding obstacles in the transport path and solving the problem of insufficient freedom of attitude adjustment for a single robotic arm. The first self-rotating component includes a first support column 310, a first column base 314, a first column sleeve 311, and a first driving component 313. The driving component 313 can preferably be a motor, a hydraulic motor, or a driving device that can perform similar functions. The first support column 310 is vertically fixedly connected to the base column 130. This vertical installation structure can ensure the accuracy of the rotation center of the rotating mechanism 300 and avoid deviation in subsequent operations.

[0043] The first column sleeve 311 is rotatably mounted on the top of the first support column 310, and the first column base 314 is fixedly connected to the side of the first column sleeve 311 facing the base column 130, forming a stable nested support structure. This structure can improve the radial load-bearing capacity of the rotating mechanism 300 and prevent swaying during rotation. The first extension rod 312 is fixedly connected to the outer circumferential side wall of the first column sleeve 311, and its length extension direction is perpendicular to the axial direction of the first support column 310. It rotates synchronously with the rotation of the first column sleeve 311, providing a stable mounting and force transmission carrier for the magnetic attraction mechanism 400.

[0044] A first positioning gear 316 is fixedly connected to the first support column 310, and the first positioning gear 316 is located inside the first column base 314. The housing of the first drive member 313 is fixedly installed on the first column base 314, and its output shaft extends into the first column base 314, and a first drive gear 315 that meshes with the first positioning gear 316 is coaxially installed thereon, forming an internal meshing transmission structure.

[0045] The second rotation component includes a second support column 325, a second column base 321, a second column sleeve 320, and a second drive member 322. The second drive member 322 can preferably be a motor, a hydraulic motor, or a drive device capable of similar functions. The second column sleeve 320 is fixedly connected to the end of the first extension rod 312 away from the first column sleeve 311. The connection can be achieved through a double-fixing method of welding reinforcement combined with bolt locking to ensure connection strength. The second support column 325 rotates within the second column sleeve 320. The second column base 321 is fixedly connected to one end of the second column sleeve 320 and coaxially sleeved onto the second support column 325, forming axial limiting and radial support for the second support column 325. A second positioning gear 324 is coaxially sleeved and fixedly mounted on the second support column 325, and the second positioning gear 324 is keyed to the support column. The housing of the second drive member 322 is fixedly connected to the outside of the second column base 321. The output shaft of the second drive member 322 extends into the interior of the second column base 321, and a second drive gear 323 that meshes with the second positioning gear 324 is coaxially mounted thereon.

[0046] The second extension rod 326 is fixedly connected to the end of the second support column 325. Its length extension direction is parallel to the axial direction of the second support column 325 and is parallel to the length extension direction of the first extension rod 312. Under the rotation drive of the second support column 325, it can drive the magnetic attraction mechanism 400 at the end to rotate synchronously.

[0047] The height adjustment component includes a fourth hydraulic cylinder 333, a guide rod 332, and a connecting assembly 330. The connecting assembly 330 includes a third column base 331, a third extension rod 334, and a positioning pin 337. Preferably, the second extension rod 326 has an adjustment groove at its end away from the second support column 325 for adjusting the length of the robotic arm component in the horizontal direction. One end of the third extension rod 334 is fixedly connected to the side wall of the third column base 331, and the other end is movably inserted into the adjustment groove, forming a retractable nested structure. The third extension rod 334 has multiple evenly arranged adjustment holes 336 extending along its length. The second extension rod 326 has corresponding positioning holes 335 extending through it. The positioning pin 337 passes through the positioning hole 335 and any one of the adjustment holes 336 in sequence to fix their relative positions. The cylinder body of the fourth hydraulic cylinder 333 is fixedly connected to the third column base 331, and its piston rod is connected to the mounting end of the magnetic attraction mechanism 400. The extension direction is perpendicular to the length extension direction of the second extension rod 326.

[0048] The third column base 331 has a guide hole adapted to the guide rod 332. The guide rod 332 is slidably disposed in the guide hole and arranged parallel to the piston rod of the fourth cylinder 333, forming a double guide limiting structure. The telescopic nested structure allows the working radius of the rotating mechanism 300 to be flexibly adjusted according to the storage position and docking height of the pipe fittings, adapting to the operating needs of different specifications of drilling rigs without the need to replace the extension rod assembly, thus improving the versatility of the device. The fourth cylinder 333 can be height adjusted to adapt to drilling rigs and storage racks of different heights. The double guide limiting structure can strictly limit the movement trajectory of the magnetic attraction mechanism 400, ensuring that it can only move smoothly in a linear direction, avoiding bending damage to the piston rod of the fourth cylinder 333 due to radial force, while improving the movement stability and alignment accuracy of the magnetic attraction mechanism 400, and preventing collision damage caused by pipe fitting swaying.

[0049] The rotating component includes a base frame 340, a third drive member 341, a transmission sleeve 344, and an adjustment assembly. The adjustment assembly includes a connecting plate 352 and a fifth hydraulic cylinder 350. The base frame 340 is sleeved on and fixed to the piston rod of the fourth hydraulic cylinder 333. The third drive member 341 can preferably be an electric motor, a hydraulic motor, or a drive device capable of performing similar functions. The transmission sleeve 344 is rotatably mounted on the end of the piston rod of the fourth hydraulic cylinder 333, with one end extending into the interior of the base frame 340. A third positioning gear 343 is fixedly installed inside the base frame 340, and the third positioning gear 343 is coaxially fixed with the transmission sleeve 344. The housing of the third drive member 341 is fixedly connected to the top of the base frame 340 by a bolt group. The output shaft extends into the interior of the base frame 340 and is coaxially mounted with a third drive gear 342 that meshes with the third positioning gear 343.

[0050] In the adjustment assembly, one end of the connecting plate 352 is fixedly connected to the transmission sleeve 344, and the other end is hinged to the magnetic attraction mechanism 400. A connecting lug 351 is integrally formed on the cylinder liner of the fifth cylinder 350, and the connecting lug 351 is hinged to the circumferential side wall of the transmission sleeve 344. The piston rod of the fifth cylinder 350 is hinged to the base frame 340, forming a triangular support drive structure. Through the coordinated operation of the first and second rotational assemblies, the magnetic attraction mechanism 400 possesses multi-degree-of-freedom rotational adjustment capabilities, allowing for flexible obstacle avoidance.

[0051] In this embodiment, the rotating component can achieve 360° omnidirectional angle adjustment. Combined with the rotational movement of the serial robotic arm, the pipe can swing or rotate in any plane, accurately docking with the drilling rig, further solving the problem of inability to dock or jamming caused by insufficient precision during the docking process between the pipe and the drill pipe.

[0052] Example 4 Based on embodiment 3, the technical features of support frame 210, protrusion 220, support block 250 and sixth oil cylinder 260 are added.

[0053] Reference Figure 5 and Figure 10 As shown, the support mechanism 200 includes a support frame 210 and multiple protrusions 220, a support block 250 and a sixth hydraulic cylinder 260.

[0054] The support frame 210 is welded from high-strength steel plate. Protrusions 220 are fixedly installed on the top of the support frame 210 (to accommodate the top surface of the inner and outer tubes). Multiple protrusions 220 are evenly arranged along the length of the support frame 210, interconnected to form a strip of protrusions 220. The length of the strip of protrusions 220 is parallel to the length of the support frame 210, and a certain distance is maintained between the strip of protrusions and the sidewall of the support frame 210 in the width direction, reserving space for the inner tube to extend out of the outer tube. The height of the protrusions 220 is lower than the wall thickness of the outer tube, effectively limiting the outer tube and preventing it from sliding or shifting along the length of the support frame 210, while not obstructing the inner tube from extending out of the outer tube.

[0055] When the outer tube is placed, both ends abut against the sidewalls of the protrusion 220 and the support frame 210, respectively. The protrusion 220 can effectively prevent the outer tube from sliding along its own length, thus preventing the outer tube from shifting during the load-bearing process. When the inner tube is placed, one end extends a set distance from the outer tube above the protrusion 220 to ensure a clear point of action for subsequent magnetic gripping.

[0056] The inner and outer tubes of the drilling rig are placed horizontally along the width of the support frame 210 (the axial direction is parallel to the width of the support frame 210), ensuring that the placement and removal path of the tubes is consistent with the working path of the rotating mechanism 300, thus reducing the travel distance. When the outer tube is placed, both ends abut against the protrusion 220 and the side wall of the support frame 210, respectively. The protrusion 220 effectively prevents the outer tube from sliding along its own length, avoiding displacement of the outer tube during load-bearing. When the inner tube is placed, one end extends a predetermined distance from the outer tube above the protrusion 220, ensuring a clear point of application for subsequent magnetic gripping.

[0057] The support frame 210 has at least one layer, and in this example, a three-layer configuration is preferred. Adjacent support frames 210 are installed in a stacked manner, with the upper support frame 210 being shorter than the lower support frame 210 in its length direction. This layered staggered structure allows for the retrieval of pipes from different layers, maximizing the use of vertical space and increasing the storage capacity of pipes. Adjacent support frames 210 are respectively provided with coaxial pin holes 230, and connecting pins 240 are inserted into the corresponding pin holes 230 to fix the two adjacent support frames 210 together. This facilitates easy assembly and disassembly, and the number of stacked layers can be adjusted according to actual needs, improving adaptability and flexibility.

[0058] The support block 250 is fixedly installed at the center of the bottom surface of the support frame 210, abutting against the bearing foundation, and serving as the fulcrum for the swing of the support frame 210. The cylinder body of the sixth hydraulic cylinder 260 is fixed to the base 100 through a hinge seat, and the piston rod is hinged to the side wall of the support frame 210 through a ball joint. A model with a rated thrust ≥3000N is selected to ensure that the support frame 210 can be pushed to tilt smoothly.

[0059] When the sixth cylinder 260 is activated, hydraulic oil enters the cylinder body and pushes the piston rod to extend. The piston rod applies a thrust to the side wall of the support frame 210. Since the support block 250 abuts against the bearing foundation at the center of the bottom surface of the support frame 210, the support block 250 forms a swing fulcrum, causing the placed pipe to roll on the lower side of the support frame 210 (i.e., the side of the bottom support frame 210 that protrudes relative to the top support frame 210). Moreover, all the multi-layer support frames 210 are aligned by the side hinged to the sixth cylinder 260. Through the above mechanical structure, this embodiment can realize the automatic rolling of the pipe to the gripping station, maintaining the posture to be gripped, so that the magnetic suction component can directly grip it at the gripping station. There is no need to manually adjust the position of the pipe or set up a complex control program, which reduces the operation difficulty of this robot in actual working scenarios.

[0060] The overall working process of the present invention is described in detail below, in conjunction with the above embodiments 1-4: Equipment deployment phase. Start the tracked drive unit 120 at the bottom of the base 100, and move the entire device to the construction area via remote control or on-site operation. Upon reaching the designated position, activate the four corner hydraulic supports 110. Adjust the extension length of each support independently according to the flatness of the construction ground (e.g., 30cm for low-lying areas, 10cm for flat areas) to keep the base 100 level. The hydraulic supports 110 are locked in place by hydraulic locks to prevent device swaying during operation. The support mechanism 200 is deployed synchronously with the base 100. Adjust the connecting assembly 330 according to the pipe storage location and docking height. Pull out the positioning pin 337 and pull the third extension rod 334 to adjust its extension length from the adjustment groove. After adjusting to a suitable working radius, pass the positioning pin 337 sequentially through the positioning hole 335 and the corresponding adjustment hole 336 to fix the relative position of the third extension rod 334 and the second extension rod 326.

[0061] Pipe fitting load-bearing stage. After the operator inserts the inner pipe into the outer pipe, it is placed on the support mechanism 200 to complete the limit load-bearing.

[0062] Multi-degree-of-freedom transfer stage. The first and second rotation components of the serial robotic arm are activated to operate in coordination: the first drive unit 313 is activated, and the output shaft drives the first drive gear 315 to rotate. Since the first positioning gear 316 is fixed, the first drive gear 315 revolves around the first positioning gear 316, thereby driving the housing of the first drive unit 313, the first column base 314, and the first column sleeve 311 to rotate synchronously around the first support column 310. The first extension rod 312 rotates with the first column sleeve 311, driving the second rotation component to move as a whole. At the same time, the second drive unit 322 is activated, and the output shaft drives the second drive gear 323 to rotate. Through gear meshing, the second positioning gear 324 and the second support column 325 rotate synchronously. The second support column 325 drives the second extension rod 326 to rotate, further adjusting the position of the end height adjustment component, so that the magnetic suction mechanism 400 moves directly above the tube. Then, the fourth cylinder 333 of the height adjustment component is activated, and hydraulic oil enters the cylinder to push the piston rod to extend, thereby driving the magnetic attraction mechanism 400 to descend. The guide rod 332 slides synchronously along the guide hole of the third column seat 331 with the magnetic attraction mechanism 400, limiting the movement trajectory to ensure vertical descent.

[0063] After the magnetic suction mechanism 400 completes the coaxial gripping of the inner and outer tubes (adjusting the inner and outer tubes to be coaxial during the gripping process), the piston rod of the fourth hydraulic cylinder 333 retracts, causing the pipe fitting to rise. If there are obstacles in the transfer path, the rotation angles of the first and second rotating components continue to be adjusted in coordination. By coordinating the "revolution" of the first rotating component with the "rotation" of the second rotating component, the transfer path of the pipe fitting is adjusted to avoid obstacles.

[0064] Attitude adjustment and docking stage. The third drive component 341 of the rotating part is activated, and the output shaft drives the third drive gear 342 to rotate. Through meshing with the third positioning gear 343, the transmission sleeve 344 rotates synchronously, achieving a 360° rotation of the magnetic attraction mechanism 400 and adjusting the horizontal orientation of the pipe fitting. If the pipe fitting docking requires switching from a horizontal to a vertical orientation, the fifth hydraulic cylinder 350 is activated. Its piston rod extends and retracts, driving the magnetic attraction mechanism 400 to rotate around the hinge point between the connecting plate 352 and the magnetic attraction mechanism 400 (adjustment range 0° to 90°), completing the attitude switch. Finally, the fourth hydraulic cylinder 333 fine-tunes the height of the pipe fitting, making it flush with the drilling rig power head interface. After docking is completed, the pipe fitting is released, and all components are reset sequentially.

[0065] When pipe fittings need to be disassembled, the above work process can be reversed.

[0066] The above are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A drilling rig operation assistive robot, used to transfer drilling rig fittings from a storage location to the drilling rig and complete the connection, wherein the drilling rig fittings include an inner pipe and an outer pipe, characterized in that, include: A support mechanism is used to horizontally support the inner tube and the outer tube, and to place the inner tube inside the outer tube and partially extend out from one end of the outer tube; The magnetic attraction mechanism includes a first magnetic attraction component and a second magnetic attraction component, which are used to grasp the inner tube and the outer tube respectively, and to keep the inner tube and the outer tube coaxial by adjusting the distance between the inner tube and the outer tube. The rotating mechanism, connected to the magnetic suction mechanism, is used to drive the magnetic suction mechanism to carry the pipe for angle and position adjustment after the magnetic suction mechanism grabs the pipe, so as to complete the transfer and docking of the pipe from the storage position to the drilling rig.

2. The drilling rig operation assistive manipulator according to claim 1, characterized in that, The magnetic attraction mechanism also includes a support and a drive assembly; The bracket is connected to the rotating mechanism, and the first magnetic attraction component and the second magnetic attraction component are slidably assembled on the bracket; The drive assembly is used to drive the first magnetic attraction assembly and the second magnetic attraction assembly to slide along the axial direction of the pipe on the bracket so that the pipe can be connected to the drilling rig.

3. The drilling rig operation assistive manipulator according to claim 1, characterized in that, The rotating mechanism includes The base is used to support the support mechanism; The base column is fixedly connected to the base. The robotic arm component is rotatably connected to the base column and is used to adjust the horizontal working position of the magnetic suction mechanism; A height adjustment component is installed at the end of the robotic arm component and is used to adjust the vertical working height of the magnetic attraction mechanism; A rotating component, connected to the height adjustment component, is used to drive the magnetic attraction mechanism to rotate around the axis of rotation of the height adjustment component, thereby adjusting the working angle of the magnetic attraction mechanism.

4. The drilling rig operation assistive manipulator according to claim 3, characterized in that, The robotic arm components include a first rotation assembly, a second rotation assembly, a first extension rod, and a second extension rod; The first rotation component rotates around a rotation axis that is perpendicular to the horizontal placement direction of the inner tube and the outer tube, and the first extension rod is connected to the first rotation component; The second rotation component is connected in series with the first rotation component through the first extension rod, and rotates around a rotation axis that is perpendicular to the horizontal placement direction of the inner tube and the outer tube; The second extension rod is connected to the second rotation assembly and provides a connection mounting position for the height adjustment component.

5. The drilling rig operation assistive manipulator according to claim 4, characterized in that, The height adjustment component includes a fourth hydraulic cylinder, a guide rod, and a connecting assembly; The connecting assembly is used to connect the fourth hydraulic cylinder and the second extension rod; The piston rod of the fourth oil cylinder is connected to the magnetic attraction mechanism, which is used to drive the magnetic attraction mechanism to move in a direction perpendicular to the length of the second extension rod. The guide rod is slidably inserted through the connecting assembly, and one end is connected to the magnetic attraction mechanism to limit the movement trajectory of the magnetic attraction mechanism.

6. The drilling rig operation assistive manipulator according to claim 5, characterized in that, The connecting assembly includes a third column base, a third extension rod, and a positioning pin; The second extension rod has an adjustment groove along its length on the side facing the connecting assembly, and the third extension rod is movably inserted into the adjustment groove; The third column base is fixed to the end of the third extension rod, the fourth oil cylinder is fixed to the third column base, and the third column base is provided with a guide hole for the guide rod to slide. The third extension rod has multiple evenly arranged adjustment holes extending through it along its length, and the second extension rod has positioning holes extending through it. The positioning pin passes through the positioning hole and any adjustment hole in sequence to fix the relative position of the third extension rod and the second extension rod.

7. The drilling rig operation assistive manipulator according to claim 3, characterized in that, The rotating component includes a base frame, a third drive component, a transmission sleeve, and an adjustment assembly; The base frame is fixed to the output end of the height adjustment component, and the transmission sleeve is rotatably mounted on the output end of the height adjustment component. The third driving component is fixed on the base frame and is used to drive the transmission sleeve to rotate; The adjustment component is used to connect the transmission sleeve and the support of the magnetic attraction mechanism, driving the support to rotate synchronously.

8. The drilling rig operation assistive manipulator according to claim 7, characterized in that, The adjustment assembly includes a connecting plate and a fifth hydraulic cylinder; One end of the connecting plate is fixedly connected to the transmission sleeve, and the other end is hinged to the bracket of the magnetic attraction mechanism; The fifth cylinder has a connecting lug fixed on its cylinder liner, and the connecting lug is hinged to the circumferential side wall of the transmission sleeve. The piston rod of the fifth cylinder is hinged to the bracket; By extending and retracting the piston rod of the fifth cylinder, the drive bracket rotates around the hinge point between the connecting plate and the bracket, and the axial direction of the hinge point is perpendicular to the driving direction of the first magnetic attraction component and the second magnetic attraction component.

9. The drilling rig operation assistive manipulator according to claim 1, characterized in that, The support mechanism includes a support frame and multiple protrusions; The protrusions are arranged linearly and evenly along the top of the support frame, with the arrangement direction perpendicular to the length extension direction of the inner and outer tubes, to prevent the outer tube from sliding on the support frame along its own length direction. When the inner tube is placed, one end extends a predetermined distance from the top of the protrusion into the outer tube.

10. The drilling rig operation assistive manipulator according to claim 9, characterized in that, The support mechanism also includes a support block and a sixth hydraulic cylinder; The support block is fixedly installed in the middle of the bottom surface of the support frame, serving as the fulcrum for the swing of the support frame; The piston rod of the sixth cylinder is hinged to the side wall of the support frame, which is used to push the support frame to tilt, so that the inner tube and the outer tube roll to the lower side of the support frame under the action of gravity.

Images