阅读说明：本技术 一种机械手及包括其的钻机 (Manipulator and drilling machine comprising same ) 是由 黎志中 于 2019-09-26 设计创作，主要内容包括：本发明涉及钻机技术领域,公开了一种钻机的机械手,该机械手包括安装座和连接在其上夹紧机构、伸缩机构以及提升机构,所述夹紧机构和所述提升机构连接在所述伸缩机构上,所述伸缩机构用于带动所述夹紧机构和所述提升机构靠近或远离所述安装座,所述夹紧机构用于夹紧固定所述提引器的筒形主体,所述提升机构用于上下移动所述提引器的锁环。另外,本发明还公开了一种采用了上述机械手的钻机,该钻机通过机械手连接和拆卸提引器和钻杆,不必操作人员高空作业,安全可靠,轻松便捷,降低劳动强度,改善工作环境。(The invention relates to the technical field of drilling machines, and discloses a manipulator of a drilling machine, which comprises a mounting seat, and a clamping mechanism, a telescopic mechanism and a lifting mechanism which are connected on the mounting seat, wherein the clamping mechanism and the lifting mechanism are connected on the telescopic mechanism, the telescopic mechanism is used for driving the clamping mechanism and the lifting mechanism to be close to or far away from the mounting seat, the clamping mechanism is used for clamping and fixing a cylindrical main body of an elevator, and the lifting mechanism is used for moving a lock ring of the elevator up and down. In addition, the invention also discloses a drilling machine adopting the manipulator, the drilling machine is connected and disassembled with the elevator and the drill rod through the manipulator, the high-altitude operation of operators is not needed, the drilling machine is safe, reliable, easy and convenient, the labor intensity is reduced, and the working environment is improved.)

1. A manipulator is used for being arranged on a drilling machine to control an elevator, and is characterized by comprising a mounting seat, and a clamping mechanism, a telescopic mechanism and a lifting mechanism which are connected to the mounting seat, wherein the clamping mechanism and the lifting mechanism are connected to the telescopic mechanism, the telescopic mechanism is used for driving the clamping mechanism and the lifting mechanism to be close to or far away from the mounting seat, the clamping mechanism is used for clamping and fixing a cylindrical main body of the elevator, and the lifting mechanism is used for moving a locking ring of the elevator up and down.

2. The manipulator according to claim 1, wherein the clamping mechanism includes a first clamping arm, a second clamping arm, and a driving device, the first clamping arm is disposed on one side of the second clamping arm, and the driving device is configured to drive the first clamping arm to move closer to or away from the second clamping arm.

3. The manipulator according to claim 2, wherein the clamping mechanism further comprises a movable rod and a movable block, the driving device is a clamping motor, the first end of the first clamping arm is hinged to the second clamping arm, the first end of the movable rod is hinged to the second end of the first clamping arm, the second end of the movable rod is provided with a long hole, the movable block is slidably sleeved in the long hole, and the movable block is connected to an extending end of the clamping motor.

4. The manipulator according to claim 3, wherein the first and second gripping arms define a bayonet therebetween for mating with the cylindrical body.

5. The manipulator according to claim 4, wherein a positioning groove for fitting with a positioning block provided on the cylindrical body is provided on one side of the bayonet.

6. The robot of claim 1, wherein the lift mechanism includes a lift arm and a lift motor, the lift arm being connected to an extended end of the lift motor, the lift arm being configured to abut the locking ring.

7. The manipulator according to claim 1, wherein the telescoping mechanism comprises a telescoping motor, the telescoping motor is connected to the mounting base, and the clamping mechanism and the lifting mechanism are connected to an extending end of the telescoping motor.

8. The manipulator of claim 1, further comprising a manipulator movement mechanism comprising a mounting frame mountable on a drilling rig, the mounting block being movably connected up and down to the first mounting frame.

9. A drilling rig comprising a manipulator according to any of claims 1-8.

Technical Field

The invention relates to the technical field of drilling rigs, in particular to a manipulator and a drilling rig comprising the manipulator.

Background

The existing drilling machine connects a power head and a drill rod through an elevator, and the power head drives the drill rod to work. The existing elevator is characterized in that a main body is provided with a connecting hole, the side wall of the connecting hole is provided with a slotted hole, a drill rod is embedded into the connecting hole from the slotted hole on the side edge of the elevator, and then a locking ring of the elevator falls down, so that the drill rod is connected with the elevator. When the existing drilling machine is used for loading and unloading the drill rod, an operator is required to climb a mast of the drilling machine to load and unload the elevator and the drill rod in the air, the operation is difficult, and the mode of high-altitude operation is very unsafe, the labor intensity is high, and the working environment is poor.

Disclosure of Invention

The invention aims to provide a safe, reliable, efficient and convenient manipulator and a drilling machine comprising the same.

In order to achieve the purpose, the invention provides a manipulator which is used for being arranged on a drilling machine to control an elevator and comprises a mounting seat, and a clamping mechanism, a telescopic mechanism and a lifting mechanism which are connected to the mounting seat, wherein the clamping mechanism and the lifting mechanism are connected to the telescopic mechanism, the telescopic mechanism is used for driving the clamping mechanism and the lifting mechanism to be close to or far away from the mounting seat, the clamping mechanism is used for clamping and fixing a cylindrical main body of the elevator, and the lifting mechanism is used for moving a locking ring of the elevator up and down.

Preferably, the clamping mechanism includes a first clamping arm, a second clamping arm and a driving device, the first clamping arm is disposed on one side of the second clamping arm, and the driving device is configured to drive the first clamping arm to approach or depart from the second clamping arm.

As a preferable scheme, the clamping mechanism further comprises a movable rod and a movable block, the driving device is a clamping motor, the first end of the first clamping arm is hinged to the second clamping arm, the first end of the movable rod is hinged to the second end of the first clamping arm, the second end of the movable rod is provided with a strip hole, the movable block is slidably sleeved in the strip hole, and the movable block is connected to an extending end of the clamping motor.

Preferably, a bayonet fitting with the cylindrical body is formed between the first clamping arm and the second clamping arm.

Preferably, a positioning groove engaged with a positioning block provided on the cylindrical body is provided on one side of the bayonet.

Preferably, the lifting mechanism comprises a lifting arm and a lifting motor, the lifting arm is connected to the extending end of the lifting motor, and the lifting arm is used for abutting against the locking ring.

Preferably, the telescopic mechanism comprises a telescopic motor, the telescopic motor is connected to the mounting seat, and the clamping mechanism and the lifting mechanism are connected to the extending end of the telescopic motor.

Preferably, the manipulator moving mechanism comprises a mounting frame capable of being mounted on the drilling machine, and the mounting seat is connected to the first mounting frame in a vertically movable mode.

Another object of the present invention is to provide a drilling machine comprising the above-mentioned manipulator.

Compared with the prior art, the manipulator and the drilling machine comprising the manipulator have the advantages that:

1. the elevator and the drill rod are assembled and disassembled by arranging the mechanical arm, the elevator and the mechanical arm are moved to the air by the moving mechanism, the elevator is clamped and fixed by the clamping mechanism of the mechanical arm, the lock ring sleeved outside the cylindrical main body is moved upwards by the lifting mechanism, the elevator is embedded into the elevator from the side edge of the elevator by the drill rod through the telescopic mechanism, then the lock ring is put down by the lifting mechanism of the mechanical arm, the lock ring falls down to fix the elevator and the drill rod, the connection between the elevator and the drill rod is completed, the elevator and the drill rod are connected by the clamping mechanism, the lock ring is moved upwards by the lifting mechanism to release the connection between the elevator and the drill rod, and the elevator is moved by the telescopic mechanism, the drill rod is separated, the disassembly is completed, and the high-altitude operation of operators is not needed.

2. The clamping mechanism of this embodiment stretches out through pressing from both sides tight motor, and the movable block removes in rectangular hole, drives the movable rod and removes, struts the second and presss from both sides tight arm, when pressing from both sides tight motor and withdrawing, and taut second presss from both sides tight arm realizes pressing from both sides tight function, simple structure, convenient operation. The locating slot of bayonet socket one side cooperatees with the locating piece of cylindric main part, can fix a position the orientation of elevator, makes the side trompil of the elevator of drilling rod embedding not sheltered from. The placing cup can fix the drill rod, and the placing cup and the first mounting frame are arranged in a straight line, so that the moving path of the manipulator can be simplified. The blocking frame can protect personnel on the drilling machine main body when the drill rod is toppled. When the drill rods are arranged in the placing cup, the roller wheels are positioned between the two adjacent drill rods, so that the spacing between the drill rods can be kept, and the drill rods can be conveniently taken out and placed. The monitoring device can observe the conditions of the manipulator for assembling and disassembling the elevator and the drill rod in real time, and can enable an operator to manually control the manipulator by matching with the operating device. Set up the carriage release lever on the second mounting bracket of elevator installation, can prevent through drive line, pulley when promoting the elevator, the elevator rocks and leads to its collision manipulator.

Drawings

Fig. 1 is a front view of a drilling rig of an embodiment of the present invention.

Fig. 2 is a side view of a drilling rig of an embodiment of the present invention.

Fig. 3 is a top view of a drilling rig of an embodiment of the present invention.

Fig. 4 is a schematic view from a first perspective of an elevator coupled to a drill pipe in accordance with an embodiment of the present invention.

Fig. 5 is a second perspective view of an elevator coupled to a drill pipe in accordance with an embodiment of the present invention.

Fig. 6 is a schematic diagram of the robot and elevator according to the first embodiment of the present invention.

Fig. 7 is a schematic view of a clamping mechanism according to a first embodiment of the present invention.

Fig. 8 is a schematic view of a clamping mechanism according to a second embodiment of the present invention.

Fig. 9 is a schematic view of a lift arm according to a second embodiment of the present invention.

Fig. 10 is a rear view of the gripping mechanism and the lifting mechanism of the second embodiment of the present invention.

Fig. 11 is a schematic view of the clamping mechanism and the elevator according to the second embodiment of the present invention.

In the figure, 1, an elevator; 101. a cylindrical body; 102. a locking ring; 103. positioning blocks; 2. a manipulator; 201. a mounting seat; 202. a first clamp arm; 203. a second clamp arm; 204. a movable rod; 205. a moving block; 206. clamping the motor; 207. a strip hole; 208. a bayonet; 209. positioning a groove; 210. a lift arm; 211. a hoisting motor; 212. a telescopic motor; 3. a drill stem; 4. a drill body; 5. a first mounting bracket; 6. a moving motor; 7. placing the cup; 8. a column; 9. a cross beam; 10. a roller; 11. a second mounting bracket; 12. a pulley; 13. a travel bar; 14. a drive line; 15. a first electromagnet; 16. a first positioning pin; 17. a fixing plate; 18. moving the plate; 19. a second electromagnet; 20. a second positioning pin; 21. through the hole; 22. a slide bar; 23. a slide bar hole.

Detailed Description

The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.

In the description of the present invention, it should be understood that the terms "central", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., used herein are used in the orientation or positional relationship indicated in the drawings, which are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In addition, in the description of the present invention, "a plurality" means two or more unless otherwise specified.