Drilling machine tool butt joint robot and butt joint method

Abstract

The drilling machine tool butt joint robot comprises a walking track, the walking track is sleeved with a walking sliding sleeve, the bottom of the walking sliding sleeve is provided with a rotation driving device, the bottom of the rotation driving device is fixedly connected with one end of a lifting column, the lifting column is sleeved with a lifting sliding sleeve, the lifting sliding sleeve is hinged to one end of a mechanical arm, and the other end of the mechanical arm is hinged to a support. A supporting clamp is hinged to the top of the support, and a clamping spinning clamp is hinged to one side of the support; an electric control system and a hydraulic system are installed on the walking sliding sleeve and electrically connected. The invention further discloses a drilling machine tool butt joint method. The device integrates multiple functions, can replace manual work to achieve pushing and supporting of a pipe column, buckling of a wellhead pipe column, grabbing and spinning of a lifting short section, rapid connection of a wellhead tool and smearing of screw thread oil of a drill rod joint in tripping operation, does not need manual participation, can be installed on a back cross beam of a derrick, can effectively save the space of a drill floor face, and is high in practicability. And the collision risk of drill floor equipment is reduced.

Description

Technical Field

[0001] This invention belongs to the field of oil drilling equipment technology, and relates to a drilling rig tool docking robot. This invention also relates to a drilling rig tool docking method. Background Technology

[0002] With the increasing demands for HSE (Health, Safety, and Environmental Management System) in the oil drilling industry, the demand for automated drilling equipment is also growing rapidly. Domestic oil and gas drilling equipment companies have focused on developing high-performance automated drilling equipment for many years through technological breakthroughs and independent research and development. Currently, they have launched a variety of automated tubing handling solutions suitable for land and have also developed automated tubing systems suitable for marine applications. Various unit equipment include: gantry crane-type surface tubing conveying devices, powered catwalks, rig pushers, iron drills, buffer robots, tubing lifters, and second-level rig tubing robots. These devices are concentrated on the rig surface, have limited functions, low positioning accuracy, and low level of intelligence. Therefore, it is necessary to develop more advanced rig equipment to meet the actual needs of drilling operations and form an intelligent, flexible, and integrated rig operation mode.

[0003] While drilling rigs have largely automated tripping, drilling rig setup, stand-up construction, and casing installation, tripping and drilling rig setup of drill collars and stand-up construction both require the use of lifting subs. Lifting subs weigh between 200kg and 400kg and are currently connected manually via handling, alignment, and twisting. This is a physically demanding, high-risk, and high-frequency operation, urgently requiring the development of new automated drilling rig equipment to further improve the automation level of drilling operations. Furthermore, rapid and effective emergency repairs are crucial in the event of a blowout or kick during drilling. Wellhead tools and scientific and rapid well shut-in are crucial to preventing wellhead loss of control and catastrophic blowout accidents. Currently, when a blowout occurs during the tripping process, wellhead tools are manually moved, aligned, and threaded to achieve emergency tool reconnection. This manual operation has many disadvantages: difficulty in alignment and threading, heavy tools, mud backing up, mud splashing, and the need for manual operation. This leads to failure of wellhead tool threading, increased blowout intensity, and frequent failures in manual tool reconnection. Currently, there is no mechanized or automated equipment to achieve emergency tool reconnection.

[0004] Given the limited installation space on the drilling platform and the concentrated functions of existing automated equipment, the handling of lifting subs and the quick connection of wellhead tools are still in the manual operation stage. At the same time, there is no extra space to install other equipment after the current automated drilling rigs have installed equipment on the drilling platform. Therefore, it is necessary to make reasonable use of the drilling rig derrick space and develop drilling platform equipment with diversified functions and intelligent operation. Summary of the Invention

[0005] The purpose of this invention is to provide a drilling tool docking robot, which solves the problem that drilling tool docking in the prior art still relies on manual labor.

[0006] The second objective of this invention is to provide a method for docking drilling tools.

[0007] The first technical solution adopted in this invention is a drilling tool docking robot, including a walking track, a walking sleeve fitted on the walking track, a rotary drive device at the bottom of the walking sleeve, a lifting column fixed to the bottom of the rotary drive device, a lifting sleeve fitted on the lifting column, a robotic arm hinged to one end of the lifting sleeve, a bracket hinged to the other end of the robotic arm; a support clamp hinged to the top of the bracket, and a clamping and turning clamp hinged to one side of the bracket; an electrical control system and a hydraulic system are installed on the walking sleeve and are electrically connected.

[0008] The first technical solution of this invention is also characterized by:

[0009] The travel track has a double track structure, with pins and lugs installed at both ends. Mounting seats are fixed on the pins and lugs. A travel rack is installed on the inner side of the travel track. The hydraulic system is connected to the lifting sleeve, lifting column, clamping screw clamp, and robotic arm respectively. The electrical control system is connected to the rotary drive device, travel sleeve, support clamp, and thread oil application device respectively.

[0010] A reducer is installed on the top of the traveling slide sleeve, and a power motor is installed on the reducer. The electrical control system is electrically connected to the power motor. Several first traveling rollers are arranged around the reducer on the top surface of the traveling slide sleeve, and the first traveling rollers penetrate the top surface of the traveling slide sleeve and abut against the traveling track. Several first guide rollers are arranged on each side of the traveling slide sleeve, and the first guide rollers penetrate the side of the traveling slide sleeve and abut against the traveling track. A traveling gear is installed on the inner wall of the top surface of the traveling slide sleeve, and the traveling gear meshes with the traveling rack. The power motor is electrically connected to the reducer and the traveling gear respectively.

[0011] A rotary drive device is equipped with a rotary motor, which is electrically connected to the electronic control system. A first hydraulic cylinder is hinged to the lifting column near the rotary drive device. The first hydraulic cylinder is hinged to the lifting sleeve and connected to the hydraulic system.

[0012] The robotic arm includes two connecting seats mounted on both sides of the lifting slide; it also includes a Y-shaped main arm, with a connecting seat hinged at each end and the other end hinged to a support; it also includes a Y-shaped auxiliary arm, with a connecting seat hinged at each end and the other end hinged to a support; and it also includes a second hydraulic cylinder, with one end hinged to the lifting slide and the other end hinged to the Y-shaped main arm, and the second hydraulic cylinder is connected to the hydraulic system.

[0013] One end of a support arm is fixed to one side of the bracket, and a threaded oil application device is hinged to the other end of the support arm. A rotating motor is installed on the support arm, and the support arm is electrically connected to the electrical control system through the rotating motor.

[0014] The lifting slide has several second traveling rollers on the side near the support, and the second traveling rollers pass through the side of the lifting slide and abut against the lifting column; the lifting trolley has several second guide rollers on the side away from the support, and the second guide rollers pass through the side of the lifting slide and abut against the lifting column.

[0015] The second technical solution adopted in this invention is a drilling tool docking method, the steps of which are as follows: the mounting base is installed on the back crossbeam of the derrick, the movement of the traveling slide sleeve and the steering of the slewing drive device are controlled by the electronic control system, and the lifting slide sleeve is raised and lowered by the hydraulic system so that the clamping rotary clamp is aligned with the drilling tool, the robotic arm drives the clamping rotary clamp to grab the drilling tool and send the drilling tool to the top of the wellhead, the lifting slide sleeve descends so that the drilling tool is engaged with the tool in the wellhead, and the docking of the drilling tool with the tool in the wellhead is achieved by rotating the clamping rotary clamp.

[0016] The second technical solution of the present invention is further characterized by:

[0017] When a blowout occurs at the wellhead, use the tweezers to grab the internal blowout preventer and connect the male connector of the internal blowout preventer to the female connector of the drill string in the wellhead; when it is necessary to connect the lifting sub and drill collar during tripping, use the tweezers to grab the lifting sub and connect the male connector of the lifting sub to the female connector of the drill collar.

[0018] The beneficial effects of this invention are:

[0019] This invention integrates multiple functions. During tripping in and out of the drilling rig, it can automatically grab, transfer, and twist the drill collar lifting sub; in the event of a blowout, it can automatically grab, twist, and close the blowout preventer at the wellhead; during the running-in process, it can automatically apply thread lubricant to the drill string joints; and during the connection of the drill string, it can perform the pushing and supporting operation of the drill string. It also has a wellhead drill string reconnection function. Installed on the derrick back crossbeam, this invention effectively saves drilling platform space, reduces the risk of collisions with drilling equipment, and ensures operational and personnel safety. This invention also employs both hydraulic and electric drive, enabling left and right movement. The device allows for movement, horizontal rotation, vertical lifting, and forward and backward extension, meeting the posture adjustment needs under different working conditions and improving operational and obstacle avoidance capabilities. The supporting clamp, gripping twist clamp, and threaded oil application device of this invention can be continuously and automatically switched according to working conditions without disassembly, making it convenient and quick. This invention can automatically grab or release drill collars, lifting subs, and blowout preventers of different specifications and models according to working conditions, without manual intervention. This invention has strong installation adaptability; it can be installed on newly manufactured automated drilling rigs as well as conventional drilling rigs in oil fields, meeting the matching needs of older drilling rigs, and requiring minimal installation and modification work. Attached Figure Description

[0020] Figure 1 This is a structural diagram of the present invention;

[0021] Figure 2 This is a partially enlarged view of the traveling slide sleeve in this invention;

[0022] Figure 3 This is a partially enlarged view of the lifting sleeve in this invention;

[0023] Figure 4 This is a diagram showing the state of the invention after installation;

[0024] Figure 5 This is a diagram of the standby state of the present invention when it is not in operation;

[0025] Figure 6 This is a working diagram of the grasping and lifting section of the present invention;

[0026] Figure 7 This is a working diagram of the blowout prevention tool for quick connection to the wellhead of the present invention;

[0027] Figure 8 This is a working diagram of the installation and lifting section of the present invention;

[0028] Figure 9 This is a diagram of the thread-locking oil application process of the present invention;

[0029] Figure 10 This is a working diagram of the push-support tubing of the present invention.

[0030] In the diagram, 1. Mounting base, 2. Traveling track, 3. Traveling rack, 4. Traveling sleeve, 5. Reducer, 6. Rotary drive device, 7. Rotary motor, 8. First hydraulic cylinder, 9. Lifting sleeve, 10. Lifting column, 11. Y-shaped main boom, 12. Y-shaped auxiliary boom, 13. Second hydraulic cylinder, 14. Bracket, 15. Support clamp, 16. Clamping and twisting clamp, 17. Support arm, 18. Thread oil application device, 19. Rotary motor, 20. Hydraulic... 21. Pressure system, 22. Electrical control system, 23. Derrick back crossbeam, 24. Wellhead, 25. Lifting sub, 26. First support platform, 27. Second support platform, 28. Internal blowout preventer, 29. Robotic arm, 30. Connecting seat, 31. Pin lug, 32. Power motor, 33. Travel gear, 34. Second travel roller, 35. Second guide roller, 36. Drill pipe, 37. First travel roller, 38. First guide roller, 39. Drill pipe. Detailed Implementation

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

[0032] Drilling tool docking robot, refer to Figure 1 The system includes a walking track 2, a walking slide 4 fitted on the walking track 2, a rotary drive device 6 at the bottom of the walking slide 4, a lifting column 10 fixedly connected to the bottom of the rotary drive device 6, a lifting slide 9 fitted on the lifting column 10, a robotic arm 28 hinged to one end of the lifting slide 9, a bracket 14 hinged to the other end of the robotic arm 28; a support clamp 15 hinged to the top of the bracket 14, and a clamping and rotating clamp 16 hinged to one side of the bracket 14; an electric control system 21 and a hydraulic system 20 are installed on the walking slide 4 and are electrically connected.

[0033] The traveling track 2 has a double-track structure. Pin-shaft ear plates 30 are installed at both ends of the traveling track 2, and mounting seats 1 are fixed on the pin-shaft ear plates 30. A traveling rack 3 is installed on the inner side of the traveling track 2. The hydraulic system 20 is connected to the lifting sleeve 9, the lifting column 10, the clamping and twisting pliers 16, and the robotic arm 28, respectively. The electrical control system 21 is electrically connected to the rotary drive device 6, the traveling sleeve 4, the support clamp 15, and the thread oil application device 18, respectively. (Refer to...) Figure 2A reducer 5 is installed on the top of the traveling sleeve 4, and a power motor 31 is installed on the reducer 5. The electronic control system 21 is electrically connected to the power motor 31. Several first traveling rollers 36 are arranged around the reducer 5 on the top surface of the traveling sleeve 4, and the first traveling rollers 36 penetrate the top surface of the traveling sleeve 4. The first traveling rollers 36 abut against the traveling track 2. Several first guide rollers 37 are arranged on each side of the traveling sleeve 4, and the first guide rollers 37 penetrate the side of the traveling sleeve 4. The first guide rollers 37 abut against the traveling track 2. The first traveling rollers 36 and the first guide rollers 37 realize the precise transmission of the traveling sleeve 4 on the traveling track 2. A traveling gear 32 is installed on the inner wall of the top surface of the traveling sleeve 4. The traveling gear 32 meshes with the traveling rack 3 to realize the operation of the traveling sleeve 4 on the traveling track 2. The power motor 31 is electrically connected to the reducer 5 and the traveling gear 32 respectively. Figure 3 A rotary drive device 6 is equipped with a rotary motor 7, which is electrically connected to the electronic control system 21. A first hydraulic cylinder 8 is hinged to the lifting column 10 near the rotary drive device 6. The first hydraulic cylinder 8 is hinged to the lifting sleeve 9 and connected to the hydraulic system 20. The robotic arm 28 includes two connecting seats 29, which are installed on both sides of the lifting sleeve 9. (Refer to...) Figure 1 It also includes a Y-shaped main boom 11, with a connecting seat 29 hinged at each end and the other end hinged to the bracket 14; it also includes a Y-shaped auxiliary boom 12, with a connecting seat 29 hinged at each end and the other end hinged to the bracket 14; it also includes a second hydraulic cylinder 13, with one end hinged to the lifting sleeve 9 and the other end hinged to the Y-shaped main boom 11, and the second hydraulic cylinder 13 is connected to the hydraulic system 20; see reference. Figure 1 One end of a support arm 17 is fixed to one side of the bracket 14, and a threaded oil application device 18 is hinged to the other end of the support arm 17. A rotary motor 19 is installed on the support arm 17, and the support arm 17 is electrically connected to the electrical control system 21 through the rotary motor 19. The rotary motor 19 can realize the precise rotation of the support arm 17. Several second traveling rollers 33 are provided on the side of the lifting sleeve 9 near the bracket 14, and the second traveling rollers 33 penetrate through the side of the lifting sleeve 9. The second traveling rollers 33 abut against the lifting column 10. (Refer to...) Figure 3 A number of second guide rollers 34 are provided on the side of the lifting slide sleeve 9 away from the bracket 14 and the second guide rollers 34 penetrate through the side of the lifting slide sleeve 9. The second guide rollers 34 abut against the lifting column 10. The second traveling rollers 33 and the second guide rollers 34 realize the precise operation of the lifting slide sleeve 9 on the lifting column 10.

[0034] Reference Figure 4 After the invention is installed on the back crossbeam 22 of the derrick, in the non-working standby state, refer to Figure 5The power motor 31 drives the traveling sleeve 4 to the edge of the traveling track 2. The first hydraulic cylinder 8 fully retracts and drives the lifting sleeve 9 to its highest position. The second hydraulic cylinder 13 fully retracts and drives the robotic arm 28 to move below the traveling sleeve 4. This allows the drilling tool docking robot to avoid the drilling platform and the top drive's trajectory with a minimal external profile. (Refer to...) Figure 6 The present invention can grasp or release drill collars, lift sub 24 and blowout preventer 27 in wellhead by using clamping and twisting pliers 16, and grasp the tubing string 35 at different positions by walking, lifting and extending.

[0035] The drilling tool docking method consists of the following steps: the mounting base 1 is installed on the back crossbeam 22 of the derrick; the movement of the traveling slide 4 and the rotation of the drive device 6 are controlled by the electrical control system 21; the lifting slide 9 is raised and lowered by the hydraulic system 20, so that the clamping screw clamp 16 is aligned with the drilling tool; the robotic arm 28 drives the clamping screw clamp 16 to grab the drilling tool and send it to the top of the wellhead 23; the lifting slide 9 descends, so that the drilling tool and the tool in the wellhead 23 are docked; and the docking of the drilling tool and the tool in the wellhead 23 is achieved by rotating the clamping screw clamp 16.

[0036] Reference Figure 7 When a blowout occurs at wellhead 23, the clamping and turning pliers 16 grasp the internal blowout preventer 27 and connect the male connector of the internal blowout preventer 27 to the female connector of the drill string in wellhead 23; refer to Figure 8 When it is necessary to connect the lifting sub 24 and the drill collar during the drilling process, the clamping twisting pliers 16 grabs the lifting sub 24 and connects the male connector of the lifting sub 24 with the female connector of the drill collar.

[0037] This invention can also be used to apply thread oil to drill pipe 38, see reference. Figure 9 When the drill pipe 38 inside the wellhead 23 needs to be coated with thread oil, the mounting base 1 is installed on the back crossbeam 22 of the derrick. The rotation of the support arm 17 is controlled by the rotating motor 19, and the extension and retraction of the mechanical arm 28 and the lifting and lowering of the lifting sleeve 9 are controlled by the hydraulic system 20. The thread oil coating device 18 is moved to the top of the female joint of the drill pipe 38 inside the wellhead 23. The thread oil coating device 18 sprays thread oil onto the female joint of the drill pipe 38 to complete the thread oil coating work.

[0038] This invention can also be used to push the tubular column 35, see reference. Figure 10 When constructing the column, the mounting base 1 is installed on the back crossbeam 22 of the derrick. The extension and retraction of the robotic arm 28 and the lifting and lowering of the lifting sleeve 9 are controlled by the hydraulic system 20, so that the support clamp 15 pushes the bottom of the pipe string 35 until the pipe string 35 changes from an inclined state to a vertical state, thus completing the work of pushing the pipe string 35. The present invention can also push the pipe string 35 onto the power catwalk when the drill is being thrown.

[0039] Example 1:

[0040] The drilling tool docking robot includes a walking track 2, on which a walking sleeve 4 is fitted. A rotary drive device 6 is located at the bottom of the walking sleeve 4, and one end of a lifting column 10 is fixedly connected to the bottom of the rotary drive device 6. A lifting sleeve 9 is fitted onto the lifting column 10, and one end of a robotic arm 28 is hinged to the lifting sleeve 9. A bracket 14 is hinged to the other end of the robotic arm 28. A support clamp 15 is hinged to the top of the bracket 14, and a clamping and turning clamp 16 is hinged to one side of the bracket 14. An electrical control system 21 and a hydraulic system 20 are installed on the walking sleeve 4, and the electrical control system 21 and the hydraulic system 20 are electrically connected. The walking track 2 has a double-track structure. The track 2 has pin-shaft ear plates 30 installed at both ends, and mounting seats 1 are fixed on the pin-shaft ear plates 30. A traveling rack 3 is installed on the inner side of the traveling track 2. The hydraulic system 20 is connected to the lifting sleeve 9, the lifting column 10, the clamping and twisting pliers 16, and the robotic arm 28 respectively. The electrical control system 21 is electrically connected to the rotary drive device 6, the traveling sleeve 4, the support clamp 15, and the thread oil application device 18 respectively. A reducer 5 is installed on the top of the traveling sleeve 4, and a power motor 31 is installed on the reducer 5. The electrical control system 21 is electrically connected to the power motor 31. Four first traveling rollers 36 are arranged around the reducer 5 on the top surface of the traveling sleeve 4. The first traveling roller 36 penetrates the top surface of the traveling sleeve 4 and abuts against the traveling track 2; four first guide rollers 37 are provided on each side of the traveling sleeve 4 and penetrate the side of the traveling sleeve 4, abutting against the traveling track 2; a traveling gear 32 is installed on the inner wall of the top surface of the traveling sleeve 4, and the traveling gear 32 meshes with the traveling rack 3; the power motor 31 is electrically connected to the reducer 5 and the traveling gear 32 respectively; the robotic arm 28 includes two connecting seats 29, which are installed on both sides of the lifting sleeve 9; it also includes a Y-shaped main arm 11, with the Y-shaped main arm 11 having two ends Each arm is hinged to a connecting seat 29 at one end and to the bracket 14 at the other end; it also includes a Y-shaped auxiliary arm 12, with a connecting seat 29 hinged to each end of the Y-shaped auxiliary arm 12 and the other end hinged to the bracket 14; it also includes a second hydraulic cylinder 13, with one end of the second hydraulic cylinder 13 hinged to the lifting slide sleeve 9 and the other end hinged to the Y-shaped main arm 11, and the second hydraulic cylinder 13 is connected to the hydraulic system 20; one end of the support arm 17 is fixed to one side of the bracket 14, and the other end of the support arm 17 is hinged to a threaded oil application device 18, and a rotating motor 19 is provided on the support arm 17, and the support arm 17 is electrically connected to the electrical control system 21 through the rotating motor 19.

[0041] Example 2:

[0042] The drilling tool docking robot includes a walking track 2, on which a walking sleeve 4 is fitted. A rotary drive device 6 is located at the bottom of the walking sleeve 4, and one end of a lifting column 10 is fixedly connected to the bottom of the rotary drive device 6. A lifting sleeve 9 is fitted onto the lifting column 10, and one end of a robotic arm 28 is hinged to the lifting sleeve 9. A bracket 14 is hinged to the other end of the robotic arm 28. A support clamp 15 is hinged to the top of the bracket 14, and a clamping and rotating clamp 16 is hinged to one side of the bracket 14. An electrical control system 21 and a hydraulic system 20 are installed on the walking sleeve 4 and are electrically connected. The walking track 2 has a double-track structure, with pin-shaft ear plates 30 installed at both ends. Mounting seats 1 are fixed on the pin-shaft ear plates 30, and a walking rack 3 is installed on the inner side of the walking track 2. The hydraulic system 20 is connected to the lifting sleeve 9, the lifting column 10, and the clamping and rotating clamp 16. The robotic arm 28 is connected to the control system 21, which is electrically connected to the rotary drive device 6, the traveling sleeve 4, the support clamp 15, and the threaded oil application device 18. The rotary drive device 6 is equipped with a rotary motor 7, which is electrically connected to the control system 21. The lifting column 10 is hinged to the rotary drive device 6, and the first hydraulic cylinder 8 is hinged to the lifting sleeve 9. The first hydraulic cylinder 8 is connected to the hydraulic system 20. Four second traveling rollers 33 are provided on the side of the lifting sleeve 9 near the support 14, and the second traveling rollers 33 penetrate the side of the lifting sleeve 9 and abut against the lifting column 10. Four second guide rollers 34 are provided on the side of the lifting sleeve 9 away from the support 14, and the second guide rollers 34 penetrate the side of the lifting sleeve 9 and abut against the lifting column 10.

[0043] Example 3:

[0044] The drilling tool docking method consists of the following steps: When a blowout occurs at the wellhead 23, the mounting base 1 is installed on the back crossbeam 22 of the derrick. The movement of the traveling slide 4 and the rotation of the drive device 6 are controlled by the electrical control system 21. The lifting slide 9 is raised and lowered by the hydraulic system 20, so that the clamping tongs 16 are aligned with the internal blowout preventer 27. The robotic arm 28 drives the clamping tongs 16 to grab the internal blowout preventer 27 and send it above the wellhead 23. The lifting slide 9 descends, so that the male connector of the internal blowout preventer 27 is engaged with the female connector of the drill string in the wellhead 23. The docking of the internal blowout preventer 27 and the drill string is achieved by rotating the clamping tongs 16.

[0045] Example 4:

[0046] The drilling tool docking method comprises the following steps: When the drill collar in the wellhead 23 needs to be connected to the lifting sub 24, the mounting base 1 is installed on the back crossbeam 22 of the derrick. The movement of the traveling slide 4 and the rotation of the drive device 6 are controlled by the electrical control system 21. The lifting slide 9 is raised and lowered by the hydraulic system 20, so that the clamping screw clamp 16 is aligned with the lifting sub 24. The robotic arm 28 drives the clamping screw clamp 16 to grab the lifting sub 24 and send the lifting sub 24 above the wellhead 23. The lifting slide 9 descends, so that the male connector of the lifting sub 24 is engaged with the female connector of the drill collar in the wellhead 23. The docking of the lifting sub 24 and the drill collar is achieved by rotating the clamping screw clamp 16.

Claims

1. A rig tool interface robot, characterized by, Including walking track (2), walking track (2) is sleeved with walking sliding sleeve (4), walking sliding sleeve (4) bottom is provided with rotary drive device (6), the bottom of rotary drive device (6) is fixedly connected with lifting column (10) one end, lifting column (10) is sleeved with lifting sliding sleeve (9), lifting sliding sleeve (9) is hinged with mechanical arm (28) one end, the other end of mechanical arm (28) is hinged with support (14);The support (14) top is hinged with support pincers (15), and the side of support (14) is hinged with clamping screw clamp pincers (16);The walking sliding sleeve (4) is installed with electric control system (21) and hydraulic system (20) and the electric control system (21) and the hydraulic system (20) are electrically connected.

2. The rig tool interface robot of claim 1, wherein, The walking track (2) is double track structure, and the walking track (2) is provided with pin shaft ear plate (30) at both ends, the pin shaft ear plate (30) is fixedly connected with mounting seat (1), and the walking track (2) is provided with walking rack (3) on the inner side;The hydraulic system (20) is connected with lifting sliding sleeve (9), lifting column (10), clamping screw clamp pincers (16) and mechanical arm (28) respectively, and the electric control system (21) is electrically connected with rotary drive device (6), walking sliding sleeve (4), support pincers (15) and screw thread oil smearing device (18) respectively.

3. The rig tool interface robot of claim 2, wherein, The walking sliding sleeve (4) top is installed with reducer (5), and the walking sliding sleeve (4) top is provided with power motor (31), and the electric control system (21) is electrically connected with the power motor (31), and a plurality of first walking rollers (36) are arranged around the reducer (5) on the top surface of the walking sliding sleeve (4), and the first walking rollers (36) penetrate the top surface of the walking sliding sleeve (4), and the first walking rollers (36) are in abutment with the walking track (2);A plurality of first guide rollers (37) are arranged on both sides of the walking sliding sleeve (4), and the first guide rollers (37) penetrate the side surface of the walking sliding sleeve (4), and the first guide rollers (37) are in abutment with the walking track (2);The walking gear (32) is installed on the inner wall of the top surface of the walking sliding sleeve (4), and the walking gear (32) is engaged with the walking rack (3), and the power motor (31) is electrically connected with the reducer (5) and the walking gear (32).

4. The rig tool interface robot of claim 2, wherein, The rotary motor (7) is installed on the rotary drive device (6), and the rotary drive device (6) is electrically connected with the electric control system (21) through the rotary motor (7), and the first hydraulic cylinder (8) is hinged to the position close to the rotary drive device (6) of the lifting column (10), and the first hydraulic cylinder (8) is hinged with the lifting sliding sleeve (9), and the first hydraulic cylinder (8) is connected with the hydraulic system (20).

5. The rig tool interface robot of claim 2, wherein, The mechanical arm (28) comprises two connecting seats (29) installed on both sides of the lifting sliding sleeve (9), a Y-shaped main arm (11) having one connecting seat (29) hinged at each end and the other end hinged on the support (14), a Y-shaped auxiliary arm (12) having one connecting seat (29) hinged at each end and the other end hinged on the support (14), and a second hydraulic cylinder (13) having one end hinged on the lifting sliding sleeve (9) and the other end hinged on the Y-shaped main arm (11), the second hydraulic cylinder (13) being connected with the hydraulic system (20).

6. The rig tool interface robot of claim 2, wherein, The support (14) has one end of a supporting arm (17) fixedly connected on one side, the other end of the supporting arm (17) being hinged with a screw thread oil smearing device (18), and a rotating motor (19) being arranged on the supporting arm (17), the supporting arm (17) being electrically connected with the electric control system (21) through the rotating motor (19).

7. The rig tool interface robot of claim 2, wherein, The lifting sliding sleeve (9) is provided with a plurality of second walking rollers (33) on the side close to the support (14), the second walking rollers (33) penetrating through the side of the lifting sliding sleeve (9) and abutting against the lifting column (10), and the lifting sliding sleeve (9) is provided with a plurality of second guide rollers (34) on the side away from the support (14), the second guide rollers (34) penetrating through the side of the lifting sliding sleeve (9) and abutting against the lifting column (10).

8. A method of interfacing a rig tool, characterized by, The drilling rig tool docking robot of claim 5 is used in the following steps: the mounting seat (1) is mounted on the derrick back cross beam (22), the movement of the walking sliding sleeve (4) and the steering of the rotary drive device (6) are controlled by the electric control system (21), the lifting of the lifting sliding sleeve (9) is controlled by the hydraulic system (20), the clamping screwing wrench (16) is aligned with the drilling rig tool, the mechanical arm (28) drives the clamping screwing wrench (16) to grab the drilling rig tool and send the drilling rig tool to the upper side of the wellhead (23), the lifting sliding sleeve (9) is lowered, the drilling rig tool is screwed with the tool in the wellhead (23), and the docking of the drilling rig tool and the tool in the wellhead (23) is realized by the rotation of the clamping screwing wrench (16).

9. The rig tool interface method of claim 8, wherein, When the wellhead (23) appears overflow well kick, the clamping screwing wrench (16) grabs the inner blowout preventer tool (27) and docks the male joint of the inner blowout preventer tool (27) with the female joint of the drilling tool in the wellhead (23); when the lifting short section (24) and the drill collar need to be connected during the tripping process, the clamping screwing wrench (16) grabs the lifting short section (24) and docks the male joint of the lifting short section (24) with the female joint of the drill collar.

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