INNOVATIVE MULTIFUNCTION MANIPULATOR FOR MANIPULATING DRILLING ELEMENTS IN A DRILLING RIG AND RELATED DRILLING RIG.

摘要

Multifunction manipulator (3) comprising: a carriage (4); an articulated arm (5); a robotic apparatus (6); a manipulation head (7). The robotic apparatus (6) is adapted to move the manipulation head (7) with at least three degrees of freedom. The manipulator (3) is configured to move the manipulation head (7) with at least five degrees of freedom. The carriage (4) comprises: at least one sliding block (41); a pulley-type hoisting device (42) in turn comprising a winch (420); an emergency braking system (43) adapted to prevent the carriage (4) from moving in the event of a malfunction of the hoisting system (42), the latter being adapted to cause said carriage (4) to slide vertically along a first axis (Z) parallel to the longitudinal extension of a mast (12). The articulated arm (5) has a monolithic body (50) constrained, at a first end thereof, to the carriage (4) and, at a second end thereof, to a first end of the robotic apparatus (6). The manipulation head (7) is connected to the second end of the robotic apparatus (6). The articulated arm (5) comprises: a first actuator (51) and a second actuator (52) for moving the articulated arm (5). The articulated arm (5) and the robotic apparatus (6) comprising electric actuators. The manipulator (3) comprises a control system (32) adapted to independently control all the electric actuators comprised in said articulated arm (5) and in said robotic apparatus (6).