CN212027707U

CN212027707U - Manipulator and drilling machine comprising same

Info

Publication number: CN212027707U
Application number: CN201921623966.5U
Authority: CN
Inventors: 黎志中
Original assignee: Guangdong Yongji Construction Foundation Co ltd
Current assignee: Guangdong Yongji Construction Foundation Co ltd
Priority date: 2019-09-26
Filing date: 2019-09-26
Publication date: 2020-11-27
Anticipated expiration: 2029-09-26

Abstract

The utility model relates to a rig technical field discloses a manipulator of rig, this manipulator include the mount pad and connect clamping mechanism, telescopic machanism and hoist mechanism above that, clamping mechanism with hoist mechanism connects on the telescopic machanism, telescopic machanism is used for driving clamping mechanism with hoist mechanism is close to or keeps away from the mount pad, clamping mechanism is used for pressing from both sides tight fixed the cylindric main part of elevator, hoist mechanism is used for reciprocating the catch of elevator. Additionally, the utility model also discloses a rig that has adopted above-mentioned manipulator, this rig pass through the manipulator and connect and dismantle elevator and drilling rod, unnecessary operating personnel high altitude construction, safe and reliable, it is light convenient, reduce intensity of labour, improve operational environment.

Description

Manipulator and drilling machine comprising same

Technical Field

The utility model relates to a rig technical field especially relates to a manipulator and include its rig.

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.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a safe and reliable, high-efficient convenient manipulator reaches rig including it.

In order to realize the above object, the utility model provides a manipulator for set up control elevator on the rig, it includes the mount pad and connects clamping mechanism, telescopic machanism and the hoist mechanism above that, clamping mechanism with hoist mechanism connects on the telescopic machanism, telescopic machanism is used for driving clamping mechanism with hoist mechanism is close to or keeps away from the mount pad, clamping mechanism is used for pressing from both sides to press from both sides fixedly elevator's cylindric main part, hoist mechanism is used for reciprocating elevator's catch.

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 which can be mounted on the drilling machine, and the mounting seat is connected to the mounting frame in a vertically movable mode.

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

The utility model provides a manipulator reaches rig including it compares with prior art, and beneficial effect lies in:

1. the utility model discloses a set up the manipulator and load and unload elevator and drilling rod, it is aerial to remove elevator and manipulator through moving mechanism, the clamping mechanism of manipulator presss from both sides tight fixed elevator, hoist mechanism shifts up the catch of suit outside the cylindric main part, remove the elevator through telescopic machanism, make the drilling rod from the side embedding elevator of elevator, then, the hoist mechanism of manipulator puts down the catch, the catch falls down, fix elevator and drilling rod, accomplish the connection of elevator and drilling rod, when dismantling, clamping mechanism presss from both sides tight fixed elevator, then up move the catch by hoist mechanism, loosen the connection of elevator and drilling rod, remove the elevator through telescopic machanism, the drilling rod is deviate from, the completion is dismantled, unnecessary operating personnel high altitude construction, safety and reliability, it is light convenient.

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 in an embodiment of the present invention.

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

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

Fig. 4 is a schematic view of a first perspective of an elevator coupled to a drill pipe according to 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 view of the robot and the 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 clamping mechanism and the lifting mechanism according to 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 the embodiments of the present invention is provided with reference to 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 "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, which indicate the orientation or positional relationship, are used in the present invention as being based on the orientation or positional relationship shown in the drawings, and are used only for convenience of description and simplification of the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore 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 is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; 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 meaning 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.

Example one

As shown in fig. 1 to 7, the utility model discloses a drilling machine, including elevator 1, manipulator 2 and moving mechanism, elevator 1 includes cylindrical main part 101 and can reciprocate ground suit at the catch 102 outside cylindrical main part 101, manipulator 2 includes mount pad 201 and connects clamping mechanism, hoist mechanism and telescopic machanism above that, clamping mechanism and hoist mechanism connect on telescopic machanism, telescopic machanism is used for driving clamping mechanism and hoist mechanism to be close to or keep away from mount pad 201, clamping mechanism is used for pressing from both sides the fixed cylindrical main part 101 of fastening, hoist mechanism is used for reciprocating catch 102, moving mechanism is used for driving elevator 1 and mount pad 201 and reciprocates. In the embodiment, the elevator 1 and the drill rod 3 are assembled and disassembled by arranging the manipulator 2, the elevator 1 and the manipulator 2 are moved to the air by the moving mechanism, the clamping mechanism of the manipulator 2 clamps and fixes the elevator 1, then the lifting mechanism of the manipulator 2 lifts the lock ring 102 sleeved outside the cylindrical main body 101, then the elevator 1 is moved by the telescopic mechanism, the drill rod 3 is embedded into the elevator 1 from the side edge of the elevator 1, then the lifting mechanism of the manipulator 2 puts down the lock ring 102 of the elevator 1, the lock ring 102 falls down, the elevator 1 and the drill rod 3 are fixed, the connection of the elevator 1 and the drill rod 3 is completed, when the elevator 1 is disassembled, the clamping mechanism clamps and fixes the elevator 1, then the lock ring 102 is moved upwards by the lifting mechanism, the connection of the elevator 1 and the drill rod 3 is loosened, when the elevator 1 is moved by the telescopic mechanism, the drill rod 3 is separated, and the disassembly is completed, the operation of operators at high altitude is not needed, and the device is safe, reliable, easy and convenient.

As shown in fig. 7, the clamping mechanism includes a first clamping arm 202, a second clamping arm 203, and a driving device, wherein the first clamping arm 202 is disposed on one side of the second clamping arm 203, and the driving device is configured to drive the first clamping arm 202 to approach or move away from the second clamping arm 203. The clamping mechanism of the embodiment further comprises a movable rod 204 and a movable block 205, the driving device is a clamping motor 206, the first end of the first clamping arm 202 is hinged to the second clamping arm 203, the first end of the movable rod 204 is hinged to the second end of the first clamping arm 202, the second end of the movable rod 204 is provided with a strip hole 207, the movable block 205 is slidably sleeved in the strip hole 207, and the movable block 205 is connected to the extending end of the clamping motor 206. When the extending end of the clamping motor 206 extends out, the moving block 205 is driven to move in the elongated hole 207, so that the second end of the movable rod 204 is driven to move, meanwhile, the movable rod 204 is driven to rotate around the hinged position of the movable rod 204 and the first clamping arm 202, the movable rod 204 pushes the first clamping arm 202 to rotate around the hinged position of the movable rod 204 and the second clamping arm 203, so that the opening between the first clamping arm 202 and the second clamping arm 203 is enlarged, the elevator 1 enters the space between the first clamping arm 202 and the second clamping arm 203, then, the clamping motor 206 retracts, the movable rod 204 is pulled, the first clamping arm 202 is further tensioned, the elevator 1 is clamped between the first clamping arm 202 and the second clamping arm 203, the operation is simple, and the elevator is adaptive to the cylindrical shape of the elevator 1. Furthermore, a bayonet 208 matched with the cylindrical main body 101 is formed between the first clamping arm 202 and the second clamping arm 203, the positioning block 103 is arranged on the cylindrical main body 101, a positioning groove 209 embedded with the positioning block 103 is arranged on one side of the bayonet 208, and in the process of clamping the elevator 1, due to the cylindrical main body 101 of the elevator 1, when the first clamping arm 202 is in contact with and departs from the cylindrical main body 101, the cylindrical main body 101 can be driven to rotate, so that the orientation of the elevator 101 can be positioned, when the positioning block 103 on the cylindrical main body 101 is embedded with the positioning groove 201, the opening on the side edge of the elevator for embedding the drill rod faces outwards, the opening is prevented from being blocked by the clamping arm, and the drill rod 3 cannot be embedded into the cylindrical main body 101.

As shown in fig. 6, the lifting mechanism of this embodiment includes a lifting arm 210 and a lifting motor 211, the lifting arm 210 is connected to the extending end of the lifting motor 211, the lifting arm 210 of this embodiment is a block, the lifting arm 210 is used to abut against the lock ring 102, when the elevator 1 and the drill rod 3 are connected, the lifting arm 210 is located below the lock ring 102, the lifting motor 211 moves the lifting arm 210 upwards to drive the lock ring 102 located above the lifting arm 210 upwards, so that the drill rod 3 can enter the cylindrical body 101 from the side of the cylindrical body 101, then the lifting motor 211 moves the lifting arm 210 downwards, the lock ring 102 loses support, and the lock ring 102 falls, thereby connecting the elevator 1 and the drill rod 3 firmly; at the time of disassembly, the lifting arm 210 moves below the lock ring 102, and then the lifting arm 210 is moved upward by the lifting motor 211 to move the lock ring 102 upward, thereby detaching the stable connection of the elevator 1 and the drill rod 3. The lifting arm 210 of this embodiment may be an annular block open on one side to facilitate uniform pressure on the locking ring 102. In addition, in the present embodiment, the telescopic mechanism includes a telescopic motor 212, the telescopic motor 212 is connected to the mounting base 201, and the clamping mechanism and the lifting mechanism are connected to the extending end of the telescopic motor 212, and in the present embodiment, the first clamping arm 202, the second clamping arm 203, the clamping motor 206 and the lifting motor 211 are connected to the extending end of the telescopic motor 212.

As shown in fig. 1, 2 and 3, the drilling machine of this embodiment further includes a drilling machine body 4, the moving mechanism includes a manipulator moving mechanism, the manipulator moving mechanism includes a first mounting frame 5, the first mounting frame 5 is connected to the drilling machine body 4, a mounting seat 201 is connected to the first mounting frame 5 in a vertically movable manner, the mounting seat 201 of this embodiment is embedded in the middle of the first mounting frame 5, a moving motor 6 is disposed at the bottom of the first mounting frame 5 of this embodiment, the mounting seat 201 is connected to an extending end of the moving motor 6, the moving motor 6 drives the mounting seat 201 to move vertically, a plurality of placing cups 7 for placing drill rods 3 are disposed on the drilling machine body 4, the plurality of placing cups 7 and the first mounting frame 5 are disposed in a straight line, the placing cups 7 can fix the drill rods 3, the placing cups 7 and the first mounting frame 5 are disposed in a straight line, so that after a clamping mechanism of, the elevator 1 is directly moved to the drill rod 3 through the telescopic mechanism of the manipulator, and the elevator 1 is aligned to the drill rod 3 without arranging a steering mechanism, so that the structure is simplified, and the moving path of the manipulator is simplified. In addition, a blocking frame positioned on one side of the placing cup 7 is further arranged on the drilling machine body 4, the blocking frame comprises two upright posts 8 and a cross beam 9 bridged on the two upright posts 8, the cross beam 9 is positioned above the placing cup 7, a plurality of rollers 10 are connected onto the cross beam 9, the arrangement direction of the rollers 10 is parallel to the arrangement direction of the placing cup 7, and one roller 10 is positioned between two adjacent placing cups 7. The stop bracket protects personnel on the drill body 4 when the drill rod 3 is accidentally dropped. When the drill rods 3 are arranged in the placing cup 7, the roller 10 is positioned between two adjacent drill rods 3, so that the interval between the drill rods 3 can be kept, and the drill rods 3 can be conveniently taken out and placed.

As shown in fig. 1 and 2, the moving mechanism of the present embodiment includes an elevator moving mechanism, the elevator moving mechanism includes a second mounting frame 11 and a pulley 12, a moving rod 13 is disposed on a top end of the second mounting frame 11, the second mounting frame 11 is disposed on one side of the placement cup 7, the moving rod 13 is perpendicular to the arrangement direction of the placement cup 7, the pulley 12 is movably connected to the moving rod 13, the pulley 12 of the present embodiment is hinged to an end of the moving rod 13, the elevator 1 is connected to the pulley 12 through a transmission line 14, the elevator moving mechanism is prevented from being blocked between the drill rod 3 and the manipulator 2, the work conversion between the working position and the placement position of the elevator 1 and the drill rod 3 is effectively completed, and when the elevator 1 is lifted through the transmission line 14 and the pulley 12, the elevator 1 is prevented from shaking and colliding with the manipulator 2.

In addition, the manipulator 2 of the present embodiment is provided with a monitoring device, which can observe the situation of the manipulator 2 attaching and detaching the elevator 1 and the drill rod 3 in real time. In addition, the drilling machine further comprises an operating device, the operating device is in control connection with the moving mechanism, the clamping mechanism, the lifting mechanism, the telescopic mechanism and the monitoring device, an operating table is arranged on the drilling machine body 4, the operating device is arranged on the operating table, a display screen in communication connection with the monitoring device is further arranged on the operating table, and the operating device is used for controlling the moving motor 6, the telescopic motor 212, the clamping motor 206 and the lifting motor 211 to extend out or retract back to control the moving, clamping and releasing of the manipulator. The operation table of the present embodiment can be operated manually.

The utility model discloses a working process does: controlling the moving motor 6 to lift the manipulator 2; the transmission line 14 is pulled, the elevator 1 is lifted, and the pulley 12 drives the elevator 1 to move to the front of the manipulator 2; the projecting end of the telescopic motor 212 of the manipulator 2 is extended, and the gripping mechanism and the lifting mechanism are moved forward until the cylindrical body 101 of the elevator 1 is positioned between the first gripping arm 202 and the second gripping arm 203, and the first gripping arm 202 and the second gripping arm 203 of the present embodiment grip the portion of the cylindrical body 101 below the locking ring 102, so that the lifting arm 210 of the lifting mechanism is positioned below the locking ring 102; the positioning block 103 of the control elevator 1 is embedded in the positioning groove 209, and the clamping motor 206 keeps the extending state; the extending end of the lifting motor 211 retracts to drive the lifting arm 210 to move upwards, so that the locking ring 102 is driven to move upwards; the extension end of the telescopic motor 212 continues to extend until the drill rod 3 enters the elevator 1 from the side edge of the elevator 1; the extension end of the lifting motor 211 extends or the extension end of the telescopic motor 212 retracts, the locking ring 102 loses the support, the locking ring 102 falls freely, and the elevator 1 and the drill rod 3 are connected stably; conversely, the elevator 1 and the drill rod 3 can be disassembled as well.

Example two

The difference between this embodiment and the first embodiment is: the driving device of the clamping mechanism of this embodiment is installed on the second clamping arm 203, the first clamping arm 202 is connected to the extending end of the driving device, the driving device of this embodiment is the first electromagnet 15 or the linear motor, the second clamping arm 203 is provided with the first positioning pin 16, the first clamping arm 202 is provided with the first positioning hole, the first positioning pin 16 is connected with the first positioning hole in an inserting manner, so as to guide the movement of the first clamping arm 202, and the first clamping arm 202 and the second clamping arm 203 can be prevented from rotating.

In addition, the structure of the lifting arm 210 in the lifting mechanism of this embodiment is the same as the clamping mechanism of this embodiment, the lifting arm 210 of this embodiment includes a fixed plate 17 and a movable plate 18, the movable plate 18 is disposed on one side of the fixed plate 17, the fixed plate 17 is provided with a moving device for driving the movable plate 18 to approach or leave the fixed plate 17, the moving device of this embodiment is a second electromagnet 19 or a linear motor, the fixed plate 17 is connected with a second positioning pin 20, the movable plate 18 is provided with a second positioning hole, the second positioning pin 20 is inserted into the second positioning hole, so as to guide the movement of the movable plate 18 and prevent the lifting arm 210 from rotating.

The lifting motor 211 of the embodiment is arranged below the first clamping arm 202 and the second clamping arm 203, the lifting arm 210 is arranged above the first clamping arm 202 and the second clamping arm 203, the second clamping arm 203 is provided with a through hole 21, the extending end of the lifting motor 211 penetrates through the through hole 21 to be connected with the lifting arm 210, the second clamping arm 203 is connected with a sliding rod 22, the fixing plate 17 is provided with a sliding rod hole 23, the sliding rod 22 is sleeved in the sliding rod hole 23 to guide the lifting arm 210 to move up and down, and the lifting arm 210 and the second clamping arm 203 can be prevented from rotating.

In this embodiment, the clamping mechanism and the lifting mechanism move to the elevator 1, the first electromagnet 15 and the second electromagnet 19 operate to clamp the first clamping arm 202 and the second clamping arm 203 to grasp the bottom of the elevator 1, the fixed plate 17 and the moving plate 18 clamp the grasping lock ring 102, the lifting motor 211 drives the lifting arm 210 to move up and then down when the elevator 1 and the drill rod 3 are installed, and the lifting motor 211 drives the lifting arm 210 to move up when the elevator 1 and the drill rod 3 are disassembled.

Other structures of this embodiment are the same as those of the first embodiment, and are not described herein again.

To sum up, the embodiment of the present invention provides a drilling machine, which loads and unloads an elevator 1 and a drill rod 3 by arranging a manipulator 2, moves the elevator 1 and the manipulator 2 to the air by a moving mechanism, clamps and fixes the elevator 1 by a clamping mechanism of the manipulator 2, moves up a lock ring 102 by a lifting mechanism, moves the elevator 1 by a telescopic mechanism, and embeds the drill rod 3 into the elevator 1 from the side edge of the elevator 1, then puts down the lock ring 102 of the elevator 1 by the lifting mechanism of the manipulator 2, and drops the lock ring 102, fixing the elevator 1 and the drill rod 3, completing the connection of the elevator 1 and the drill rod 3, when disassembling, the clamping mechanism clamps and fixes the elevator 1, then moves the lock ring 102 upwards by the lifting mechanism, and loosens the connection of the elevator 1 and the drill rod 3, when the elevator 1 is moved by the telescopic mechanism, the drill rod 3 is separated, and the disassembly is completed, the high-altitude operation of operators is not needed, the labor intensity is reduced, and the device is safe and reliable.

The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of modifications and replacements can be made without departing from the technical principle of the present invention, and these modifications and replacements should also be regarded as the protection scope of the present invention.

Claims

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 connected to the mounting frame to move up and down.

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