Drill rod auxiliary carrying multi-degree-of-freedom manipulator

Abstract

The utility model relates to a multi-degree-of-freedom manipulator for auxiliary carrying of a drill rod. The multi-degree-of-freedom manipulator comprises a base, a bottom arm, a middle arm, an extension arm, a turnover oil cylinder, a rotary arm, a clamping oil cylinder and a clamping hand, the bottom arm is movably arranged on the base, the middle arm is hinged to the bottom arm, and the extension arm is hinged to the middle arm; the extension arm comprises an arm cylinder, a first extension module and a second extension module; the turnover oil cylinder is located on a core rod of the second extension module, and the rotary arm is movably connected with a piston rod of the turnover oil cylinder through the rotary machine; the clamping oil cylinder is located on the rotary arm, and the clamping hand is movably connected with a clamping base on the rotary arm and a piston rod of the clamping oil cylinder so as to clamp or loosen the drill rod. The multi-degree-of-freedom mechanical arm for auxiliary carrying of the drill rods has multiple degrees of freedom, can conduct up-and-down overturning, telescopic adjustment and multi-angle adjustment in the taking, placing and carrying process of the drill rods, and achieves neat placement of the drill rods on the premise that the most basic up-and-down overturning taking, placing and carrying of the drill rods are achieved.

Description

Technical Field

[0001] This utility model relates to the field of trenchless drilling rigs, specifically to a multi-degree-of-freedom manipulator for auxiliary handling of drill rods. Background Technology

[0002] Horizontal directional drilling rigs, as a key piece of equipment in trenchless construction technology, are used for laying underground pipelines (such as natural gas pipelines, communication cables, water supply pipelines, etc.) due to their high efficiency, environmental friendliness, precision, and low cost.

[0003] Horizontal directional drilling rigs use adjustable drill bits to drill horizontally or along a preset trajectory. They first drill a small-diameter pilot hole, then gradually enlarge the hole to the target size, and finally pull back to complete the pipeline laying. During preparation and construction, it is frequently necessary to move the drill rod to adjust it to the target position.

[0004] However, in the current working environment, truck-mounted cranes on horizontal directional drilling rigs are mostly used to move and adjust the drill rods. Although truck-mounted cranes can pick up and place drill rods, they can only perform the most basic up-and-down flipping movements, with low degree of freedom. They cannot extend, retract, or adjust to multiple angles, so they cannot place the drill rods after they are removed. Utility Model Content

[0005] The purpose of this utility model is:

[0006] Design a multi-degree-of-freedom manipulator for drill pipe handling. It has many degrees of freedom and can perform up-and-down flipping, extension and retraction adjustment, and multi-angle adjustment during the picking and placing of drill pipes. Under the premise of satisfying the most basic up-and-down flipping, picking and placing of drill pipes, it can achieve neat placement of drill pipes.

[0007] To achieve the above objectives, the present invention provides the following technical solution:

[0008] A multi-degree-of-freedom manipulator for drill pipe handling includes a base, a base arm, an intermediate arm, an extension arm, a tilting cylinder, a rotary arm, a clamping cylinder, and a gripper. The base arm is movably mounted on the base, the intermediate arm is hinged to the base arm, and the extension arm is hinged to the intermediate arm. The extension arm includes an arm cylinder, a first extension module, and a second extension module. The tilting cylinder is located on the core rod of the second extension module, and the rotary arm is movably connected to the piston rod of the tilting cylinder via a rotary mechanism. The clamping cylinder is located on the rotary arm, and the gripper is movably connected to a clamping seat on the rotary arm and the piston rod of the clamping cylinder to clamp or release the drill pipe. A camera is mounted on either the rotary arm or the extension arm.

[0009] Furthermore, the first extension module is located inside the arm cylinder and can reciprocate and extend relative to the arm cylinder; the second extension module is located inside the first extension module and can reciprocate and extend relative to the first extension module.

[0010] Furthermore, the core rod is located at the end of the second extension module, and the cylinder body of the tilting cylinder is hinged to the lug at the end of the core rod.

[0011] Furthermore, the ear seat is provided with a flipping seat, which is hinged to the ear seat and the end of the piston rod of the flipping cylinder.

[0012] Furthermore, the rotary machine is located on the tilting seat, and the plane in which the rotary machine drives the rotary arm to rotate has an angle with the piston rod of the tilting cylinder.

[0013] Furthermore, the rotary arm is elongated, and the clamping cylinders are located at both ends of the rotary arm and are arranged symmetrically relative to the rotary machine.

[0014] Furthermore, the piston rod end of the clamping cylinder is provided with a swing block, which is located inside the U-shaped clamping seat and is hinged to the clamping hand; the lower part of the clamping hand is provided with a drill rod clamping groove.

[0015] Furthermore, the camera lens is directed towards the gripper; the camera is arranged symmetrically relative to the extendable arm or rotary machine.

[0016] Furthermore, the bottom arm is located on a rotating mechanism on the base, and the rotation axis of the rotating mechanism is perpendicular to the plane where the base is located.

[0017] The beneficial effects of this utility model are as follows:

[0018] A multi-degree-of-freedom manipulator for drill pipe handling utilizes a base wall, intermediate arm, extension arm, tilting cylinder, rotary machine, rotary arm, clamping cylinder, gripper, and camera. The manipulator, composed of the base wall, intermediate arm, extension arm, and rotary arm, possesses numerous degrees of freedom. The first and second extension modules of the extension arm are telescopic, allowing for vertical tilting, telescopic adjustment, and multi-angle adjustment during drill pipe handling. This enables neat placement of drill pipes while fulfilling the basic requirements of tilting and handling, making it suitable for various trenchless construction scenarios and reducing the labor intensity of construction workers. Attached Figure Description

[0019] Figure 1 This is a three-dimensional view of the overall structure of a multi-degree-of-freedom manipulator for drill pipe auxiliary handling according to this utility model.

[0020] Figure 2 for Figure 1 A partial structural diagram of the structure shown.

[0021] Figure 3 This is a partial structural diagram of a drill pipe auxiliary handling multi-degree-of-freedom manipulator according to the present invention.

[0022] Figure 4 This is a three-dimensional view of the overall structure of another embodiment of a multi-degree-of-freedom manipulator for assisting in the handling of drill pipes according to the present utility model.

[0023] Figure 5 It is Figure 4 a partial structural schematic diagram of the structure shown.

[0024] The reference numerals are as follows:

[0025] 1, base; 2, bottom arm; 3, middle arm; 4, extension arm; 41, arm cylinder; 42, first extension module; 43, second extension module; 5, core rod; 6, ear seat; 7, tilting oil cylinder; 8, tilting seat; 9, slewing machine; 10, slewing arm; 11, clamping oil cylinder; 12, clamping seat; 13, gripper; 14, camera. Specific embodiments

[0026] In order to make the objectives, technical solutions and advantages of the present utility model clearer and more understandable, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present utility model and are not used to limit the present utility model.

[0027] Refer to Figures 1 to 5 , a multi-degree-of-freedom manipulator for assisting in the handling of drill pipes, including a base 1, a bottom arm 2, a middle arm 3, an extension arm 4, a tilting oil cylinder 7, a slewing arm 10, a clamping oil cylinder 11 and a gripper 13; the multi-degree-of-freedom manipulator for assisting in the handling of drill pipes is used on a trenchless drilling rig, or on a trolley or mobile platform supporting the trenchless drilling rig, for operations such as supplying, removing and placing drill pipes.

[0028] The bottom arm 2 is movably arranged on the base 1, the bottom arm 2 is vertically arranged relative to the base 1, the middle arm 3 is hinged to the bottom arm 2, and the middle arm 3 can be driven by an oil cylinder to turn up and down relative to the bottom arm 2; the extension arm 4 is hinged to the middle arm 3, and the extension arm 4 can be driven by an oil cylinder to turn up and down relative to the middle arm 3.

[0029] The extension arm 4 includes an arm cylinder 41, a first extension module 42 and a second extension module 43; an oil cylinder is arranged on the first extension module 42, and this oil cylinder is used to drive the first extension module 42 to reciprocate telescopically relative to the arm cylinder 41; an oil cylinder is arranged on the second extension module 43, and this oil cylinder is used to drive the second extension module 43 to reciprocate telescopically relative to the first extension module 42.

[0030] The tilting oil cylinder 7 is located on the core rod 5 of the second extension module 43, and the slewing arm 10 is movably connected to the piston rod of the tilting oil cylinder 7 through a slewing machine 9; the tilting oil cylinder 7 is used to indirectly drive the slewing arm 10 to turn up and down; the slewing machine 9 is used to drive the slewing arm 10 to rotate.

[0031] The clamping cylinder 11 is located on the rotary arm 10. The gripper 13 is movably connected to the clamping seat 12 on the rotary arm 10 and the piston rod of the clamping cylinder 11 to clamp or release the drill rod.

[0032] A camera 14 is installed on the slewing arm 10 or the telescopic arm 4, such as Figure 3 and Figure 4 As shown, camera 14 is used to acquire images and transmit image information to the control terminal of the drilling rig. The control terminal can adjust the hydraulic system to precisely control the action of each cylinder and ensure accuracy.

[0033] The first extension module 42 is located inside the arm cylinder 41 and can reciprocate and extend relative to the arm cylinder 41; the second extension module 43 is located inside the first extension module 42 and can reciprocate and extend relative to the first extension module 42.

[0034] The core rod 5 is located at the end of the second extension module 43. The core rod 5 is long and narrow. The cylinder body of the tilting cylinder 7 is hinged to the lug 6 at the end of the core rod 5.

[0035] A flip seat 8 is provided on the ear seat 6. The flip seat 8 is hinged to the end of the piston rod of the ear seat 6 and the flip cylinder 7. The flip cylinder 7 is used to drive the flip seat 8 to flip up and down.

[0036] The rotary machine 9 is located on the tilting seat 8. The rotary machine 9 is used to drive the rotary arm 10 to rotate in both directions. The plane in which the rotary machine 9 drives the rotary arm 10 to rotate has an angle with the piston rod of the tilting cylinder 7 to adapt to the angle of drill rod picking and placing on the drilling rig.

[0037] The slewing arm 10 is long and narrow. The clamping cylinders 11 are located at both ends of the slewing arm 10 and are arranged symmetrically with respect to the slewing machine 9. The two clamping cylinders 11 correspond to two sets of grippers 13 to achieve stable clamping of the drill rod.

[0038] The piston rod end of the clamping cylinder 11 is provided with a swing block, which is located inside the U-shaped clamping seat 12 and is hinged to the clamping hand 13; the lower part of the clamping hand 13 is provided with a drill rod clamping groove, which is a groove used to clamp the drill rod.

[0039] The lens of camera 14 faces the gripper 13; camera 14 is arranged symmetrically with respect to the extension arm 4 or the rotary machine 9. When camera 14 is located on the rotary arm 10, it is specifically located at the lower part of the rotary arm 10.

[0040] The bottom arm 2 is located on the rotating mechanism on the base 1, and the rotation axis of the rotating mechanism is perpendicular to the plane where the base 1 is located; the rotating mechanism is used to drive the bottom arm 2 to rotate in both directions.

[0041] The working principle of this utility model is as follows:

[0042] When it is necessary to pick up, put down and move drill rods, the rotating mechanism can drive the bottom arm 2 to rotate left and right in the horizontal direction, the hydraulic cylinder on the bottom arm 2 can drive the intermediate arm 3 to flip up and down in the vertical direction, and the hydraulic cylinder on the intermediate arm 3 can drive the extension arm 4 to flip up and down in the vertical direction.

[0043] When picking up or placing drill rods, or when it is necessary to position drill rods, the extension arm needs to extend or retract. The cylinder of the first extension module 42 can drive the extension or retraction of the first extension module 42 relative to the arm cylinder 41; the cylinder of the second extension module 43 can drive the extension or retraction of the second extension module 43 relative to the first extension module 42, thereby realizing the position adjustment of the core rod 5.

[0044] The tilting cylinder 7 can drive the tilting seat 8 to tilt up and down, and the rotary machine 9 can drive the rotary arm 10 to rotate back and forth to adjust the position of the gripper 13.

[0045] The piston rod of the clamping cylinder 11 drives the swing block to retract, causing the gripper 13 to flip relative to the clamping seat 12. The drill rod clamping groove at the lower part of the gripper 13 then retracts inward, clamping the drill rod. Similarly, the piston rod of the clamping cylinder 11 drives the swing block to extend, causing the gripper 13 to flip relative to the clamping seat 12. The drill rod clamping grooves at the lower part of the gripper 13 then move away from each other, releasing the drill rod.

[0046] The above embodiments are used to further illustrate the present invention, but do not limit the present invention to these specific embodiments. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be understood as being within the protection scope of the present invention.

Claims

1. A multi-degree-of-freedom manipulator for drill pipe handling, characterized in that: It includes a base (1), a bottom arm (2), an intermediate arm (3), an extension arm (4), a tilting cylinder (7), a rotating arm (10), a clamping cylinder (11), and a gripper (13); the bottom arm (2) is movably mounted on the base (1), the intermediate arm (3) is hinged to the bottom arm (2), and the extension arm (4) is hinged to the intermediate arm (3); the extension arm (4) includes an arm cylinder (41), a first extension module (42), and a second extension module (43); the tilting cylinder... The hydraulic cylinder (7) is located on the core rod (5) of the second extension module (43). The rotary arm (10) is movably connected to the piston rod of the tilting hydraulic cylinder (7) through the rotary machine (9). The clamping hydraulic cylinder (11) is located on the rotary arm (10). The gripper (13) is movably connected to the clamp seat (12) on the rotary arm (10) and the piston rod of the clamping hydraulic cylinder (11) to clamp or release the drill rod. A camera (14) is provided on the rotary arm (10) or the extension arm (4).

2. The drill pipe-assisted handling multi-degree-of-freedom manipulator according to claim 1, characterized in that: The first extension module (42) is located inside the arm cylinder (41) and can reciprocate and extend relative to the arm cylinder (41); the second extension module (43) is located inside the first extension module (42) and can reciprocate and extend relative to the first extension module (42).

3. The drill pipe-assisted handling multi-degree-of-freedom manipulator according to claim 2, characterized in that: The core rod (5) is located at the end of the second extension module (43), and the cylinder body of the flipping cylinder (7) is hinged to the lug (6) at the end of the core rod (5).

4. The drill pipe assisted handling multi-degree-of-freedom manipulator according to claim 3, characterized in that: A flip seat (8) is provided on the ear seat (6), and the flip seat (8) is hinged to the end of the piston rod of the ear seat (6) and the flip cylinder (7).

5. The drill pipe-assisted handling multi-degree-of-freedom manipulator according to claim 4, characterized in that: The rotary machine (9) is located on the tilting seat (8), and the plane in which the rotary machine (9) drives the rotary arm (10) to rotate has an angle with the piston rod of the tilting cylinder (7).

6. The drill pipe-assisted handling multi-degree-of-freedom manipulator according to claim 5, characterized in that: The slewing arm (10) is long and narrow, and the clamping cylinders (11) are located at both ends of the slewing arm (10) and are arranged symmetrically relative to the slewing machine (9).

7. A drill pipe-assisted handling multi-degree-of-freedom manipulator according to any one of claims 1-6, characterized in that: The piston rod end of the clamping cylinder (11) is provided with a swing block, which is located inside the U-shaped clamp (12) and is hinged to the clamp (13); the lower part of the clamp (13) is provided with a drill rod clamping groove.

8. A drill pipe-assisted handling multi-degree-of-freedom manipulator according to any one of claims 1-6, characterized in that: The lens of the camera (14) is facing the gripper (13); the camera (14) is arranged symmetrically with respect to the extension arm (4) or the rotary machine (9).

9. A drill pipe-assisted handling multi-degree-of-freedom manipulator according to any one of claims 1-6, characterized in that: The bottom arm (2) is located on the rotating mechanism on the base (1), and the rotation axis of the rotating mechanism is perpendicular to the plane where the base (1) is located.

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