Racking platform manipulator with centralized lubricating device and iron roughneck equipment

Abstract

The utility model discloses a racking platform mechanical arm with a centralized lubricating device and iron roughneck equipment, and relates to the technical field of oil drilling and workover equipment, the racking platform mechanical arm comprises a mechanical arm, an arm support worm gear speed reducer, a rotary worm gear speed reducer and a trolley assembly, lubricating openings are formed in the arm support worm gear speed reducer, the rotary worm gear speed reducer and the trolley assembly; the oil injection device further comprises an oil injection distributor and a plurality of oil pipes. The oil injection distributor is provided with at least one oil injection port and at least one oil outlet. One end of each oil pipe is connected with an oil outlet hole of the oil injection distributor, and the other end of each oil pipe is connected with a lubricating opening of the racking platform manipulator. According to the technical scheme provided by the utility model, oil is injected into the pressure release valve block in a centralized manner, so that each lubricating port on the racking platform manipulator can be lubricated, the lubricating steps are simplified, the lubricating efficiency is improved, and the lubricating safety is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of petroleum drilling and workover rig, particularly to a two-floor platform mechanical hand with centralized lubricating device and iron roughneck equipment applied thereto. BACKGROUND

[0002] The two-floor platform mechanical hand is an important equipment of the high-altitude automatic pipe conveying system, cooperates with the drilling platform equipment, and conveys the pipe column into the pipe column container through the pipe supporting movement of the mechanical hand, so as to finally realize the high-altitude pipe conveying automation and reduce the labor intensity. The two-floor platform mechanical hand is a key component for realizing the pipe conveying function. The two-floor platform mechanical hand has long continuous operation time and poor field conditions during the drilling and workover construction process, and needs regular maintenance and maintenance. The most important and labor-consuming item in the maintenance and maintenance is lubricating each lubricating port.

[0003] The two-floor platform mechanical hand is installed at a high altitude of the derrick, and has many lubricating ports and discrete distribution. The conventional distributed lubrication is difficult, time-consuming and labor-consuming, and is prone to leakage. At present, whether it is land petroleum drilling and workover operation or offshore petroleum drilling and workover operation, the two-floor platform mechanical hand does not use a centralized lubricating device, but is lubricated one by one by manual means, which causes great labor cost, and may cause equipment shutdown or damage due to human negligence, and has high risk during high-altitude operation.

[0004] Therefore, the utility model designs a two-floor platform mechanical hand with a centralized lubricating device, so as to concentrate each lubricating port, reduce the lubrication difficulty, and improve the lubrication efficiency and safety. UTILITY MODEL CONTENTS

[0005] The main purpose of the utility model is to provide a two-floor platform mechanical hand with a centralized lubricating device and an iron roughneck equipment, which aims to reduce the lubrication difficulty, improve the lubrication efficiency and safety.

[0006] To achieve the above purpose, the two-floor platform mechanical hand with a centralized lubricating device comprises a mechanical hand, an arm support worm gear reducer, a rotary worm gear reducer and a trolley assembly, and has a plurality of lubricating ports on the arm support worm gear reducer, the rotary worm gear reducer and the trolley assembly.

[0007] An oil injection distributor has at least one oil injection port and a plurality of oil outlet ports.

[0008] A plurality of oil pipes, one end of each oil pipe is connected to the oil outlet port of the oil injection distributor, and the other end is connected to the lubricating port of the two-floor platform mechanical hand.

[0009] In one embodiment, the oil distributor includes a main distributor and a first distributor, the first distributor being connected to the main distributor via an oil pipe; the trolley assembly has multiple roller assemblies, the lubrication ports on the multiple roller assemblies being of a first type, and the first distributor being used to connect to the first type of lubrication ports one by one via multiple oil pipes.

[0010] In one embodiment, the oil distributor further includes a second distributor, which is connected to the main distributor via an oil pipe; the lubrication port at the worm bearing of the boom worm gear reducer and the slewing worm gear reducer is a second type of lubrication port, and the second distributor is used to connect to the second type of lubrication port one by one via multiple oil pipes.

[0011] In one embodiment, the oil distributor further includes a third distributor, which is connected to the main distributor via an oil pipe; the lubrication port at the meshing position of the worm gear and worm of the boom worm gear reducer and the slewing worm gear reducer is a third type of lubrication port, and the third distributor is used to connect to the third type of lubrication port one by one via multiple oil pipes.

[0012] In one embodiment, the roller assembly includes a roller, a roller pin, and a roller bushing; the roller bushing and the roller are sequentially sleeved on the roller pin; the roller pin has a pin lubrication channel extending toward the roller bushing, and a first type of lubrication port is located on the roller pin.

[0013] In one embodiment, the two-tiered robot arm further includes a plurality of pipe clamps for securing the oil pipe; and / or, the main distributor is connected to the oil pipe via a pipe connector.

[0014] In one embodiment, the main distributor is a pressure relief valve block.

[0015] In one embodiment, the main distributor is an electric pump, and the second-level manipulator also includes at least one sensor mounted at the rear end of the electric pump, the sensor being used to detect blockages in each oil passage.

[0016] This utility model also proposes a steel drill equipment, which includes the above-mentioned two-tiered manipulator with a centralized lubrication device.

[0017] The technical solution of this utility model uses an oil distributor to distribute lubricating oil to each lubrication port, which can reduce the tedious operation of manual lubrication, improve lubrication efficiency, and enhance the safety of lubrication operation. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0019] Figure 1 A schematic diagram of a structure of an embodiment of the two-tiered platform robot provided by this utility model;

[0020] Figure 2 A cross-sectional schematic diagram of the roller assembly of an embodiment of the two-tiered robot provided by this utility model;

[0021] Figure 3 A partial structural schematic diagram of the boom worm gear reducer of an embodiment of the two-tier platform robot provided by this utility model.

[0022] Explanation of icon numbers:

[0023] 10. Robotic arm; 20. Boom worm gear reducer; 30. Slewing worm gear reducer; 40. Trolley assembly; 41. Roller assembly; 411. Roller; 412. Roller pin; 413. Roller sleeve; 414. Lubricating oil passage; 50. Oil distributor; 50a. Oil inlet; 50b. Oil outlet; 51. Main distributor; 52. First distributor; 53. Second distributor; 54. Third distributor; 60. Oil pipe; 70. Lubrication port; 71. Type I lubrication port; 72. Type II lubrication port; 73. Type III lubrication port; 80. Pipe clamp; 90. Pipe fitting.

[0024] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0025] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present utility model.

[0026] It should be noted that if the embodiments of this utility model involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indicators will also change accordingly.

[0027] Furthermore, if the embodiments of this utility model involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or" or "and / or" throughout the text includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0028] The second-level manipulator in oil drilling and workover systems is a crucial piece of equipment in automated overhead pipe-laying systems. Working in conjunction with drilling platform equipment, the manipulator's movement guides the pipe string into its container, ultimately automating overhead pipe-laying and reducing manual labor intensity. However, the second-level manipulator operates continuously for extended periods under harsh conditions, requiring frequent maintenance and upkeep, especially for lubrication at various lubrication points. Currently, lubrication of the second-level manipulator relies primarily on manual point-by-point lubrication. This method is not only time-consuming and labor-intensive but also prone to equipment downtime or damage due to leaks, while also increasing the inherent dangers of working at height.

[0029] Therefore, designing a two-tiered robot with a centralized lubrication device to solve the above problems is of great significance.

[0030] This utility model proposes a two-tiered robotic arm with a centralized lubrication device.

[0031] Please see Figure 1 As shown, in one embodiment of this utility model, the two-tiered robot arm with a centralized lubrication device includes a robot arm 10, a boom worm gear reducer 20, a rotary worm gear reducer 30, a trolley assembly 40, an oil distributor 50, and multiple oil pipes 60. The boom worm gear reducer 20, the rotary worm gear reducer 30, and the trolley assembly 40 are all provided with lubrication ports 70. The oil distributor 50 has at least one oil inlet 50a and multiple oil outlets 50b. One end of each oil pipe 60 is connected to one oil outlet 50b of the oil distributor 50, and the other end is connected to one lubrication port 70 of the two-tiered robot arm.

[0032] Specifically, the two-tier manipulator of this application is an important piece of equipment used for high-altitude pipe laying in oil drilling and workover operations. It automates high-altitude pipe laying by using the manipulator 10 to guide the pipe string. The two-tier manipulator includes a manipulator 10, a boom worm gear reducer 20, a rotary worm gear reducer 30, and a trolley assembly 40. The manipulator 10 is the core component of the two-tier manipulator, used for gripping and moving the pipe string. It is typically equipped with a hydraulically driven gripper, capable of precisely controlling the position and orientation of the pipe string, enabling gripping, lifting, moving, and placing. The boom worm gear reducer 20 drives the manipulator 10 to extend and retract, facilitating its approach to the pipe string to be gripped. The rotary worm gear reducer 30 drives the rotation of the manipulator 10, enabling it to rotate 360 ​​degrees horizontally. It also converts the motor's power into a low-speed, high-torque output through a reduction mechanism, achieving precise rotational control of the manipulator 10. The trolley assembly 40 is used to move the robot arm 10 horizontally on the second-level platform, enabling it to reach different positions for column operations. The trolley assembly 40 can move smoothly on the track.

[0033] In this embodiment, the two-tiered robotic arm utilizes an oil distributor 50, which is connected to various lubrication ports 70 via several oil pipes 60 (such as the roller assembly 41, the worm gear and worm bearing of the worm gear reducer, etc.). This ensures that lubricating oil accurately reaches each part requiring lubrication. The lubricating oil source can be lubricating grease or the like. By distributing lubricating oil to each lubrication port 70 using the oil distributor 50, this application reduces the tedious manual lubrication process, improves lubrication efficiency, and enhances the safety of lubrication operations. During lubrication, only an oil gun or other oil injection tool is needed to inject oil into the oil injection hole of the pressure relief valve block; it is not necessary to lubricate each of the lubrication ports 70 located in different positions individually.

[0034] In an optional embodiment, the oil distributor 50 includes a main distributor 51 and a first distributor 52, the first distributor 52 being connected to the main distributor 51 via an oil pipe 60. The trolley assembly 40 has a plurality of roller assemblies 41, the lubrication ports 70 on the plurality of roller assemblies 41 being of a first type of lubrication port 71, and the first distributor 52 being used to connect to the first type of lubrication port 71 via the oil pipe 60.

[0035] Specifically, in this embodiment, the trolley assembly 40 has eight roller assemblies 41, specifically four roller assemblies 41 on the top and four on the bottom of the trolley assembly 40, two roller assemblies 41 on the top and two roller assemblies 41 on the bottom of each side. The four roller assemblies 41 on each side are mounted on a track and connected to the frame via two tracks, allowing the trolley assembly 40 to slide linearly relative to the frame along the track. The first distributor 52 is connected to the eight roller assemblies 41 on the trolley assembly 40 via eight oil pipes 60, facilitating the delivery of lubricating oil to the lubrication ports 70 of the eight roller assemblies 41 to lubricate the rotating parts of the roller assemblies 41. The lubrication ports 70 on the roller assemblies 41 are of the same type, namely, the first type of lubrication ports 70. The first distributor 52 is specifically designed to lubricate the roller assemblies 41 of the trolley assembly 40, ensuring that the rollers 411 maintain good lubrication during long-term operation, reducing wear on the roller assemblies 41, and extending the service life of the roller assemblies 41. In this embodiment, the oil distributor 50 includes a main distributor 51 and a first distributor 52 connected to each other. The input end of the main distributor 51 is the aforementioned oil inlet 50a, and the output end of the main distributor 51 is an oil outlet. The output end of the first distributor 52 is the aforementioned oil outlet 50b. The output end of the main distributor 51 and the input end of the first distributor 52 are connected through an oil pipe 60, so that the main distributor 51 can transport lubricating grease to the first distributor 52. The first distributor 52 has eight oil outlets 50b. One end of each of the eight oil pipes 60 is connected to one of the eight oil outlets 50b, and the other end of each of the eight oil pipes 60 is connected to one of the first type lubrication ports 71 of each roller assembly 41.

[0036] Please refer to Figure 1 and Figure 3 As shown, in an optional embodiment, the oil distributor 50 further includes a second distributor 53, which is connected to the main distributor 51 via oil pipes 60. The lubrication ports 70 at the worm bearings of the boom worm gear reducer 20 and the slewing worm gear reducer 30 are second-type lubrication ports 72, and the second distributor 53 is used to connect to the second-type lubrication ports 72 one by one via multiple oil pipes 60.

[0037] Specifically, both the boom worm gear reducer 20 and the rotary worm gear reducer 30 are worm gear and worm drive type reducers. Both have meshing worm gears 20b and worms 20a, and bearings (not shown in the figure) fitted at both ends of the worm. The bearings are key components that facilitate the free rotation of the worm 20a; therefore, the bearings need to be lubricated regularly. In this embodiment, each worm has two lubrication ports 70.

[0038] The second distributor 53 can be installed near the boom worm gear reducer 20 and the slewing worm gear reducer 30, and is connected to the lubrication port 70 of the worm bearing via an oil pipe 60. The lubrication ports 70 at the worm bearings of both reducers are of the same type, specifically the second type lubrication port 72. The second distributor 53 provides stable lubrication to the worm bearings of the boom worm gear reducer 20 and the slewing worm gear reducer 30, reducing bearing damage caused by insufficient lubrication and improving equipment reliability and operating efficiency. It should be noted that the oil outlet of the second distributor 53 connected to the main distributor 51 is different from the oil outlet of the first distributor 52 connected to the main distributor 51. That is, the main distributor 51 includes at least two oil outlets, and the first distributor 52 and the second distributor 53 are respectively connected to the two oil outlets via oil pipes 60. Users can inject lubricating oil into the corresponding oil inlet of the first distributor 52 or the second distributor 53 individually.

[0039] Please refer to this again. Figure 1 and Figure 3 As shown, in an optional embodiment, the oil distributor 50 further includes a third distributor 54, which is connected to the main distributor 51 via an oil pipe 60. The lubrication port 70 at the meshing position of the worm gear and worm of the boom worm gear reducer 20 and the slewing worm gear reducer 30 is a third-type lubrication port 73, and the third distributor 54 is used to connect to the third-type lubrication port 73 via the oil pipe 60.

[0040] Specifically, the meshing points of the worm gear 20b and worm 20a in the boom worm gear reducer 20 and the rotary worm gear reducer 30 also require regular lubrication. The lubrication ports 70 at the meshing points of the worm gear and worm in the boom worm gear reducer 20 and the rotary worm gear reducer 30 are classified as the same type of lubrication port 70, which are called third lubrication ports. The oil distributor 50 also includes a third distributor 54, which is connected to multiple third-type lubrication ports 73 via multiple oil pipes 60, thereby providing lubricating oil to the third-type lubrication ports 73. There are two third-type lubrication ports 73. The third distributor 54 further optimizes the distribution of lubricating oil, ensuring good cooperation and movement between the worm and worm gear, maintaining good lubrication of the worm gear and worm, reducing equipment failures, and extending the service life of the equipment.

[0041] In an optional embodiment, the main distributor 51 is a pressure relief valve block. In this embodiment, the pressure relief valve block connects the first distributor 52, the second distributor 53, and the third distributor 54 respectively. The pressure relief valve block can ensure the pressure stability of the entire lubrication system and prevent damage to the equipment due to excessively high or low pressure.

[0042] This application classifies lubrication ports 70 into different types. The first type of lubrication ports 71 consists of eight lubrication ports 70 located at the rollers 411 of the trolley assembly 40. The second type of lubrication ports 72 are located at the worm bearings of the boom worm gear reducer 20 and the rotary worm gear reducer 30, and there are four of these second type lubrication ports 72. The third type of lubrication ports 73 are located at the meshing positions of the worm gear and worm of the boom worm gear reducer 20 and the rotary worm gear reducer 30, and there are two of these third type lubrication ports 73.

[0043] The lubrication cycles of lubrication ports 70 of the same type are the same, and the same type of lubrication ports 70 are supplied with lubricating grease by the same distributor. In this embodiment, the first distributor 52 is connected to the first type of lubrication port 71, the second distributor 53 is connected to the second type of lubrication port 72, and the third distributor 54 is connected to the third type of lubrication port 73. Therefore, the pressure relief valve has three oil inlets 50a and three oil outlets, and each oil inlet 50a and each oil outlet is respectively connected to the first distributor 52, the second distributor 53, and the third distributor 54. During the process of injecting oil into the pressure relief valve block, if an overflow is found in a certain oil inlet 50a, it can be determined that there is a blockage in the corresponding subsequent pipeline, which facilitates troubleshooting of lubrication pipeline faults and facilitates later maintenance. It is understood that the types of distributors can be set more and more finely to facilitate precise location of the lubrication pipeline fault. Furthermore, since each distributor and lubrication port 70 is independently connected, it is more convenient to maintain and replace parts. If a distributor or lubrication port 70 malfunctions, it can be quickly located and repaired without causing too much impact on the two lubrication systems.

[0044] Please refer to Figure 2 As shown, in an optional embodiment, the roller assembly 41 includes a roller 411, a roller pin 412, and a roller bushing 413. The roller bushing 413 and the roller 411 are sequentially fitted onto the roller pin 412. The roller pin 412 has a lubrication channel 414 extending toward the roller bushing 413, and a first-type lubrication port 71 on the roller pin 412.

[0045] Specifically, the roller assembly 41 is mounted on the trolley assembly 40. The rotation of the roller assembly 41 drives the main body of the trolley assembly 40 to translate, thereby driving the robot arm 10 to perform translational movements. The roller 411 is made of high-strength steel, which has good wear resistance and impact resistance. The roller copper sleeve 413 is made of copper alloy, which has good self-lubricating and corrosion resistance. The roller copper sleeve 413 is fitted onto one end of the roller pin 412, and the roller 411 is fitted onto the outside of the roller copper sleeve 413. A lubricating oil passage 414 is provided inside the roller pin 412. The oil outlet 50b of the first distributor 52 is connected to the lubricating oil passage 414 via an oil pipe 60 to ensure that lubricating oil can smoothly enter the interior of the roller assembly 41.

[0046] In this embodiment, the two-tiered robotic arm also includes multiple pipe clamps 80, which are used to fix the oil pipes. The structure and shape of the pipe clamps 80 are not limited here, as long as they can fix the oil pipes. By setting the pipe clamps 80, the aesthetics of the entire device can be improved, the oil pipes can be prevented from being scattered, and the fixed oil pipes are less prone to failure.

[0047] In an optional embodiment, each oil outlet 50b of the first distributor 52 has the same oil output, each oil outlet 50b of the second distributor 53 has the same oil output, and each oil outlet 50b of the third distributor 54 has the same oil output.

[0048] Specifically, each distributor has multiple oil outlets 50b, and each oil outlet 50b is connected to a corresponding lubrication port 70 via an oil pipe 60. By ensuring that the oil output of each oil outlet 50b of each distributor is the same, uniform lubrication of each lubrication port 70 can be achieved, avoiding equipment failure caused by uneven lubrication and improving the operating efficiency and reliability of the equipment.

[0049] In an optional embodiment, the output end of the pressure relief valve block, i.e., the oil outlet of the pressure relief valve block, is connected to the oil pipe 60 via a pipe fitting 90. The pipe fitting 90 is a quick-connect type, which makes the installation and maintenance of the pressure relief valve block more convenient and faster. Maintenance personnel can easily inspect and repair the pressure relief valve block and its connected oil pipe 60, ensuring the normal operation of the system without complicated tools or prolonged downtime, thus improving equipment utilization.

[0050] In an optional embodiment, the main distributor 51 is an electric pump. The second-level manipulator also includes at least one sensor mounted at the rear end of the distributor, which is used to detect blockages in each oil passage. The electric pump can dynamically adjust its output pressure by adjusting its operating state (such as speed, power, etc.), which is more flexible in its control method. Furthermore, the electric pump can provide more stable and precise pressure and flow, thus ensuring that each lubrication port 70 receives an appropriate amount of lubricating oil, thereby improving lubrication and reducing equipment wear. Moreover, this application is equipped with sensors that can monitor the flow of lubricating oil in the oil passages after the distributor in real time. By detecting oil pressure, oil flow rate, or the patency of the oil passages, the sensors can promptly detect whether there is a blockage in the oil passages. This real-time monitoring function is crucial for preventing equipment failure. Blockages in the lubrication system can prevent lubricating oil from reaching the various lubrication ports 70, leading to overheating, wear, or even damage to the equipment. By monitoring the oil passage status in real time, the sensors can issue an alarm at the initial stage of blockage, reminding maintenance personnel to handle it promptly, thereby avoiding equipment failure due to insufficient lubrication. The sensors can also issue an alarm when blockage just appears, reminding maintenance personnel to take measures to prevent the problem from worsening. By promptly identifying and addressing blockages, equipment downtime caused by lubrication system malfunctions can be reduced, thereby improving equipment operating efficiency.

[0051] This application also proposes a steel drill equipment, which includes the aforementioned two-tiered platform manipulator. The specific structure of the two-tiered platform manipulator is as described in the above embodiments. Since the steel drill equipment adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be elaborated here.

[0052] The above description is merely an exemplary embodiment of the present utility model and does not limit the patent scope of the present utility model. Any equivalent structural transformations made based on the technical concept of the present utility model and the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present utility model.

Claims

1. A two-tiered robotic arm with a centralized lubrication device, comprising a robotic arm, a boom worm gear reducer, a rotary worm gear reducer, and a trolley assembly, wherein the boom worm gear reducer, the rotary worm gear reducer, and the trolley assembly have multiple lubrication ports; characterized in that, Also includes: An oil distributor having at least one oil inlet and multiple oil outlets; Multiple oil pipes, one end of each oil pipe is connected to the oil outlet of the oil distributor, and the other end is connected to the lubrication port of the second-level platform robot.

2. The two-tiered robotic arm with a centralized lubrication device as described in claim 1, characterized in that, The oil distributor includes a main distributor and a first distributor, the first distributor being connected to the main distributor via an oil pipe; the trolley assembly has multiple roller assemblies, the lubrication ports on the multiple roller assemblies are of the first type, and the first distributor is used to connect to the first type of lubrication ports one by one via multiple oil pipes.

3. The two-tiered robotic arm with a centralized lubrication device as described in claim 2, characterized in that, The oil distributor also includes a second distributor, which is connected to the main distributor via an oil pipe; the lubrication port at the worm bearing of the boom worm gear reducer and the slewing worm gear reducer is a second type of lubrication port, and the second distributor is used to connect to the second type of lubrication port one by one via multiple oil pipes.

4. The two-tiered robotic arm with a centralized lubrication device as described in claim 3, characterized in that, The oil distributor also includes a third distributor, which is connected to the main distributor via an oil pipe; the lubrication ports at the meshing positions of the worm gear and worm of the boom worm gear reducer and the slewing worm gear reducer are third-type lubrication ports, and the third distributor is used to connect to each of the third-type lubrication ports one by one via multiple oil pipes.

5. The two-tiered robot arm with a centralized lubrication device as described in claim 2, characterized in that, The roller assembly includes a roller, a roller pin, and a roller bushing; the roller bushing and the roller are sequentially fitted onto the roller pin; the roller pin has a pin lubrication channel extending toward the roller bushing, and the first type of lubrication port is located on the roller pin.

6. The two-tiered robotic arm with a centralized lubrication device as described in claim 2, characterized in that, The second-level robotic arm also includes multiple pipe clamps for fixing the oil pipe; and / or, the main distributor is connected to the oil pipe via a pipe connector.

7. The two-tiered robotic arm with a centralized lubrication device as described in claim 2, characterized in that, The main distributor is a pressure relief valve block.

8. The two-tiered robot arm with a centralized lubrication device as described in claim 2, characterized in that, The main distributor is an electric pump.

9. The two-tiered robot arm with a centralized lubrication device as described in claim 8, characterized in that, The second-level robotic arm also includes at least one sensor installed at the rear end of the electric pump, which is used to detect blockages in each oil passage.

10. A type of iron drill equipment, characterized in that, Including the two-tiered robot arm as described in any one of claims 1-9.

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