Size-adaptive drilling platform pipe grabber

Abstract

The present invention provides a size-adaptive drilling platform pipe grabbing manipulator, wherein a composite gear train reducer is arranged inside the base, and the composite gear train reducer drives two output outer shafts and output inner shafts with opposite rotation directions, and clamping mechanisms are arranged on both sides of the base, and the middle part of the single-side clamping mechanism is hinged with the top cover through a connecting rod, and the connecting rods at the tail ends of the clamping mechanisms on both sides are respectively connected with the two output outer shafts and output inner shafts with opposite rotation directions, and the two connecting rods and the clamping mechanism and the base form a parallelogram mechanism. It can be applied to the pipe grabbing manipulator in the automatic pipe arrangement system of the drilling platform to realize adaptive grasping of pipe columns with different pipe diameters. The system power is transmitted to the composite gear train reducer through the input shaft, and under the action of the cycloidal pinwheel reduction mechanism and the harmonic gear reduction mechanism in the composite gear train reducer, the power is output from the two coaxial output shafts respectively, and the rotation directions of the two output shafts are opposite. The ends of the two fingers in the clamping mechanism are respectively connected with the two output shafts to realize the opening and closing of the fingers.

Description

Technical Field

[0001] The invention relates to the field of pipe grabbing manipulators, in particular to a size-adaptive drilling platform pipe grabbing manipulator. Background Art

[0002] During the oil drilling process, pulling out the drill, drilling down the drill and discharging the drilling tools are production activities with single manual actions and high repetitiveness. With the development of automated drilling rig technology, the robotic arm has also become an important part of the automated pipe laying device. It can not only greatly improve production efficiency while reducing the workload of oil workers, but also reduce the risk of accidents caused by manual operation errors. As an important part of the robotic arm, the manipulator can assist the robotic arm in completing a series of operations on the target object, such as picking up, carrying, flipping, and squeezing. The existing drilling platform manipulators in China are mainly based on ring holding, with a small degree of finger opening and closing. When the diameter of the replaced pipe string is greatly different, the manipulator needs to be replaced, which seriously affects the efficiency of automatic pipe laying.

[0003] Chinese patent CN110485949A "A pipe grabbing machine" includes a manipulator, a large bracket, a flip hydraulic cylinder, and a slide rail. The manipulator is arranged at both ends of the large bracket; the large bracket is installed on the back of the slide rail through a hinged seat, one end of the flip hydraulic cylinder is fixed on the back of the slide rail, and the other end is connected to the large bracket. Under the drive of the flip hydraulic cylinder, the large bracket and the manipulator can realize flipping and swinging. It adopts hydraulic drive, which has high limitations in outdoor use and does not have the high control accuracy of motors and gears.

[0004] Chinese patent CN112276987A "A pipe grabbing manipulator for well repair and its use method" The oil cylinder is installed on the fixed frame, and the fixed frame is connected to the mounting plate and the connecting plate; the oil cylinder pushes the piston rod to move back and forth, and the piston rod is connected to the cross frame, and the piston rod is sleeved with an elastic element, and the elastic element contacts the cross frame and the fixed frame respectively; the middle clamping cylinder is connected to the support frame through the first rotating shaft, and the support frame is installed to the mounting plate and the connecting plate through bolts, and the target body is clamped together by the two clamping cylinders and the middle clamping cylinder. The driving method of the hydraulic cylinder is difficult to control the stroke of the telescopic rod, and the size-adaptive pipe grabbing method cannot be achieved. Summary of the invention

[0005] The main purpose of the present invention is to provide a size-adaptive drilling platform pipe grabbing manipulator to solve the problem that the existing drilling platform manipulators are mainly based on ring holding, with a small degree of finger opening and closing. When the diameter of the replaced pipe column is greatly different, the manipulator needs to be replaced, which seriously affects the efficiency of automatic pipe laying.

[0006] In order to solve the above technical problems, the technical solution adopted by the present invention is: a size-adaptive drilling platform pipe grabbing manipulator, including a base, a compound gear train reducer is arranged inside the base, the compound gear train reducer drives two output outer shafts and output inner shafts with opposite rotation directions, the top of the base is connected to the top cover, and clamping mechanisms are arranged on both sides of the base. The middle part of the single-sided clamping mechanism is hinged to the top cover through a connecting rod, and the connecting rods at the tail ends of the clamping mechanisms on both sides are respectively connected to the two output outer shafts and output inner shafts with opposite rotation directions. The two connecting rods and the clamping mechanism form a parallelogram mechanism with the base.

[0007] In the preferred embodiment, the clamping mechanism includes a right clamping mechanism and a left clamping mechanism, which are symmetrically arranged. The right clamping mechanism includes a symmetrically arranged right upper finger and a right lower finger, and one end of the right upper finger and the right lower finger are connected through a right roller shaft, and a plurality of rollers are provided on the right roller shaft.

[0008] In the preferred embodiment, one end of the right upper finger is hinged with a right upper front connecting rod and a right upper tail connecting rod, the right upper front connecting rod is rotatably connected to the top cover, the right upper tail connecting rod is fixedly connected to the output outer shaft or output inner shaft of the internal compound gear train reducer of the base, and the left upper tail connecting rod of the left clamping mechanism is fixedly connected to the output outer shaft or output inner shaft of the internal compound gear train reducer of the base.

[0009] In the preferred embodiment, a right lower tail connecting rod and a right lower front connecting rod are hinged on the right lower finger, and the ends of the right lower tail connecting rod and the right lower front connecting rod are respectively rotatably connected to the base.

[0010] In the preferred embodiment, the compound gear train reducer inside the base includes a planetary gear transmission mechanism, a cycloidal pinwheel planetary reduction mechanism, and a harmonic gear reduction mechanism. One side of the planetary gear transmission mechanism is connected to the input shaft, and the other side of the planetary gear transmission mechanism is respectively connected to the cycloidal pinwheel planetary reduction mechanism and the harmonic gear reduction mechanism. The cycloidal pinwheel planetary reduction mechanism and the harmonic gear reduction mechanism respectively drive the output inner shaft and the output outer shaft with opposite rotation directions to rotate.

[0011] In the preferred embodiment, the planetary gear transmission mechanism includes a gear train protection case, a planetary gear train is arranged inside the gear train protection case, the end of the input shaft passes through the gear train protection case and a central sun gear is arranged at the end, the planetary gear train includes multiple primary planetary gear sets, the central sun gear is meshed with multiple primary planetary gear sets, and the primary planetary gear set is rotatably connected to the transmission shaft bracket through a transmission shaft set.

[0012] In the preferred embodiment, the cycloid pinwheel planetary reducer includes a cycloid pinwheel planetary reducer sun gear, one end of the cycloid pinwheel planetary reducer sun gear is connected to the gear train protective shell, the transmission shaft bracket is rotatably connected to the cycloid pinwheel planetary reducer sun gear, a cycloid planetary gear set consisting of at least two cycloid planetary gears is arranged inside the cycloid pinwheel planetary reducer sun gear, the two cycloid planetary gears are connected by at least three sets of double eccentric sleeves, the double eccentric sleeves are connected to the transmission shaft set, the rear end of the transmission shaft set is connected to the harmonic gear reducer through a hole pin output mechanism, a plurality of cylindrical pins are evenly arranged on the inner wall circumference of the cycloid pinwheel planetary reducer sun gear, a first sleeve is arranged on the outer sleeve of the cylindrical pins, and the outer edge teeth of the cycloid planetary gear set are meshed with the cylindrical pins on the inner edge of the cycloid pinwheel planetary reducer sun gear;

[0013] The cycloid planetary gear set is also provided with a plurality of eccentric pin holes, one side of the pin hole output mechanism passes through the pin hole of the cycloid planetary gear set, and a second sleeve is provided between the pin hole output mechanism and the cycloid planetary gear set, and when the cycloid planetary gear set rotates, the pin hole output mechanism is driven to rotate in the same direction as the cycloid planetary gear set;

[0014] The other side of the hole pin output mechanism is connected with the output inner shaft, and the other side of the hole pin output mechanism is also rotationally connected with the sun gear of the cycloid pinwheel planetary reducer.

[0015] In the preferred embodiment, the two eccentric wheels of the double eccentric set are staggered 180° from each other;

[0016] The sun gear of the cycloid pinwheel planetary reducer is connected to the steel wheel of the harmonic gear reducer, a boss is provided between the steel wheel and the sun gear of the cycloid pinwheel planetary reducer, a circular disc of the hole pin output mechanism abuts against the boss of the steel wheel, and a plurality of first spherical rollers are provided between the hole pin output mechanism and the sun gear of the cycloid pinwheel planetary reducer;

[0017] A boss is provided between the sun gear of the cycloid pinwheel planetary reducer and the gear train protection shell, the transmission shaft bracket abuts against the boss of the gear train protection shell, and a plurality of second spherical rollers are provided between the transmission shaft bracket and the sun gear of the cycloid pinwheel planetary reducer;

[0018] A partition plate group is also provided between the cycloid planetary gear set and the transmission shaft bracket or / and the hole pin output mechanism, and the partition plate group is arranged on the transmission shaft group.

[0019] In the preferred embodiment, the harmonic gear reducer is arranged on the right side of the circular disk body, a fourth bearing is arranged between the waveform generator of the harmonic gear reducer and the output inner shaft, a plurality of secondary planetary gear sets are arranged inside the waveform generator, the plurality of secondary planetary gear sets are rotatably connected with the ends of the plurality of transmission shaft sets, and the plurality of secondary planetary gear sets are meshed with the gear teeth on the inner wall of the waveform generator;

[0020] The outer edge of the waveform generator is equipped with a cylindrical roller group consisting of at least two cylindrical rollers, and the outer sleeve of the waveform generator is provided with a flexible wheel, one side of the flexible wheel is rotatably connected to the output inner shaft through the third bearing and fixedly connected to the output outer shaft, and the output outer shaft is rotatably connected to the rigid wheel through the second bearing and the second sealing ring;

[0021] The inner edge of the other side of the flexible wheel matches with the cylindrical roller group installed on the waveform generator, and the outer edge of the flexible wheel meshes with the rigid wheel where the cylindrical roller passes.

[0022] In the preferred embodiment, a second bearing group is provided between the hole pin output mechanism and the transmission shaft group;

[0023] A first bearing group is provided between the transmission shaft bracket and the transmission shaft group;

[0024] The outer side of the gear train protective shell is connected to the left end cover, a first bearing is arranged between the input shaft, the gear train protective shell and the left end cover, a first sealing ring is also arranged on one side of the first bearing, and the first sealing ring is arranged on the left end cover.

[0025] The present invention provides a size-adaptive drilling platform pipe grabbing manipulator, in which the input shaft rotates, and the power is transmitted to three transmission shafts through a planetary gear system, and the rotation speed of the three transmission shafts is the same; the three sets of double eccentric sleeves drive the two cycloid planetary wheels to rotate under the drive of the transmission shaft, and the outer teeth of the cycloid planetary wheels are meshed with the pin wheel on the sun wheel, so that the cycloid pin wheel drives the three transmission shafts and the primary planetary wheels at the front end to generate an orbit around the central sun wheel in the same direction as the sun wheel; the hole pin output mechanism drives the output inner shaft to rotate and output power under the drive of the two cycloid planetary wheels, and the rotation direction of the output inner shaft is the same as that of the input shaft; the output inner shaft drives the upper finger and the lower finger on the right side to complete the opening and closing movement through a connecting rod; the transmission shaft group drives the double eccentric sleeve At the same time, it also drives the secondary planetary gear at its end to rotate; the secondary planetary gear meshes with the inner wall gear of the waveform generator, thereby driving the waveform generator to rotate and its rotation direction is the same as the rotation direction of the input shaft; the flexible wheel contacts and deforms the three cylindrical rollers located on the outer edge of the waveform generator, so that the flexible wheel and the rigid wheel mesh near the three cylindrical rollers. Since the rigid wheel is fixed, the flexible wheel will drive the output outer shaft to rotate and the rotation direction is opposite to that of the input shaft, and finally drive the left finger to complete the opening and closing movement symmetrical with the right finger. The present invention has many advantages such as compact structure, large transmission ratio of power from the input shaft to the dual output shafts, high efficiency, stable transmission, small airtightness, good sealing, high load-bearing capacity of the manipulator, large opening and closing degree, etc. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The present invention will be further described below in conjunction with the accompanying drawings and embodiments:

[0027] Figure 1 It is the overall structure diagram of the present invention;

[0028] Figure 2 This is an exploded structural diagram of the components of the adaptive drilling platform pipe grabbing manipulator;

[0029] Figure 3 It is an exploded structural diagram of the drilling platform pipe grabbing manipulator and the composite gear train reducer of the present invention;

[0030] Figure 4 It is a half-section structural diagram of the overall structure of the composite gear train reducer of the self-adaptive drilling platform pipe grabbing manipulator of the present invention;

[0031] Figure 5 AA is a half-section side view of the planetary gear transmission mechanism of the present invention;

[0032] Figure 6 BB is a full cross-sectional side view of the transmission shaft support of the present invention;

[0033] Figure 7 1 is a half-section side view CC of the planetary gear of the cycloid pinwheel reducer of the present invention;

[0034] Figure 8 This is a full cross-sectional side view DD of the harmonic gear reducer of the present invention;

[0035] In the figure: base 1; top cover 2; right clamping mechanism 3a; right upper finger 301a; right lower finger 302a; right upper tail connecting rod 303a; right upper front connecting rod 304a; roller 305a; right lower tail connecting rod 306a; right lower front connecting rod 307a; right roller shaft 308a; left clamping mechanism 3b; left upper finger 301b; left lower finger 302b; left upper tail connecting rod 303b; left upper front connecting rod 304b; roller 305b; left lower tail connecting rod 306b; left lower front connecting rod 307b; left roller shaft 308b; compound gear train reducer 4; input shaft 401; first sealing ring 402; first bearing 403; first bearing group 404; gear train protective shell 405; planetary gear train 406; transmission shaft Bracket 407; cycloid pinwheel planetary reducer 408; harmonic gear reducer 409; second bearing group 410; transmission shaft group 411; output outer shaft 412; second sealing ring 413; output inner shaft 414; second bearing 415; third bearing 416; fourth bearing 417; first spherical roller 418; second spherical roller 419; partition plate group 420; left end cover 421; flat key group 422; center sun gear 461; primary planetary gear group 462; cycloid planetary gear group 481; double eccentric sleeve group 482; first sleeve 483; cylindrical pin 484; cylindrical roller 485; cycloid pinwheel planetary reducer sun gear 486; hole pin output mechanism 487; second sleeve 488; secondary planetary gear group 491; waveform generator 492; cylindrical roller group 493; flexible wheel 494; rigid wheel 495. DETAILED DESCRIPTION

[0036] Example 1

[0037] like Figure 1-8As shown, a size-adaptive drilling platform pipe grabbing manipulator includes a base 1, a compound gear train reducer 4 is arranged inside the base 1, and the compound gear train reducer 4 drives two output outer shafts 412 and output inner shafts 414 with opposite rotation directions. The top of the base 1 is connected to the top cover 2, and clamping mechanisms are arranged on both sides of the base 1. The middle part of the single-side clamping mechanism is hinged to the top cover 2 through a connecting rod, and the connecting rods at the tail ends of the clamping mechanisms on both sides are respectively connected to the two output outer shafts 412 and output inner shafts 414 with opposite rotation directions. The output mechanism is connected to the compound gear train reducer 4, and the compound gear train reducer 4 drives the output outer shaft 412 and the output inner shaft 414 to rotate in opposite directions. The ends of two fingers in the clamping mechanism are respectively connected to the output outer shaft 412 and the output inner shaft 414 to realize the opening and closing of the fingers. The manipulator has a large opening and closing degree and can adapt to various pipes with different diameters, so that the manipulator does not need to change the manipulator when grabbing pipes with large differences in diameter, which can effectively improve the efficiency of pipe grabbing. At the same time, the cycloid pinwheel reducer and harmonic gear reducer used in the composite gear train reducer greatly improve the transmission ratio, output torque and transmission efficiency of the manipulator. The clamping mechanism includes a right clamping mechanism 3a and a left clamping mechanism 3b, which are symmetrically arranged. The right clamping mechanism 3a includes a symmetrically arranged right upper finger 301a and a right lower finger 302a, and one end of the right upper finger 301a and the right lower finger 302a are connected by a right roller shaft 308a, and a plurality of rollers 305a are arranged on the right roller shaft 308a. The other end of the right upper finger 301a is hinged with a right upper front link 304a and a right upper tail link 303a, the right upper front link 304a is rotatably connected to the top cover 2, the right upper tail link 303a is fixedly connected to the output outer shaft 412 or the output inner shaft 414 of the composite gear train reducer 4 inside the base 1, and the left upper tail link 303b of the left clamping mechanism 3b is fixedly connected to the output outer shaft 412 or the output inner shaft 414 of the composite gear train reducer 4 inside the base 1. The right lower tail link 306a and the right lower front link 307a are hinged on the right lower finger 302a, and the ends of the right lower tail link 306a and the right lower front link 307a are rotatably connected to the base 1 respectively.The clamping mechanism includes fingers 301a-b and 302a-b, connecting rods 303a-b and 304a-b, rollers 305a-b, and roller shafts 308a-b; the four fingers are arranged in groups of two, 301a and 302a form a group, and 301b and 302b form a group, which are respectively installed on both sides of the base 1 and the top cover 2; the upper right finger 301a is connected to the output inner shaft 414 of the compound gear train reducer 4 through the upper right tail connecting rod 303a, and the finger 301a is connected to the top cover 2 through the upper right front connecting rod 304a The double connecting rods 303a and 304a, the top cover 2, and the finger 301a form a parallelogram mechanism; the end of the lower finger 302a on the right side is connected to the base 1 through two connecting rods 306a and 307a, and the double connecting rods 306a and 307a, the base 1, and the finger 302a form a parallelogram mechanism; the upper and lower fingers 301b and 302b on the left side are symmetrically distributed with the aforementioned 301a and 302a, the difference is that the upper tail connecting rod 303b of the upper finger 301b on the left side is connected to the output outer shaft 412 of the compound gear train reducer 4.

[0038] In the preferred embodiment, the composite gear train reducer 4 inside the base 1 includes a planetary gear transmission mechanism, a cycloidal pinwheel planetary reducer, and a harmonic gear reducer. One side of the planetary gear transmission mechanism is connected to the input shaft 401, and the other side of the planetary gear transmission mechanism is connected to the harmonic gear reducer through the cycloidal pinwheel planetary reducer. The harmonic gear reducer drives the output outer shaft 412 and the output inner shaft 414 with opposite rotation directions to rotate. The output mechanism drives the planetary gear transmission mechanism, and the planetary gear transmission mechanism drives the cycloidal pinwheel planetary reducer and the harmonic gear reducer to rotate. Then, the above two reducers respectively drive the output inner shaft 412 and the output outer shaft 414 to rotate in opposite directions. Finally, the two output shafts drive the left finger to complete the opening and closing movement symmetrical with the right finger. Generally, the input shaft is driven by a servo motor with high precision, which can control the opening and closing size of the left and right fingers, with a large transmission ratio, high efficiency, and smooth transmission.

[0039] In the preferred embodiment, the planetary gear transmission mechanism includes a gear train protection case 405, a planetary gear train 406 is arranged inside the gear train protection case 405, the input shaft 401 passes through the gear train protection case 405 and a center sun gear 461 is arranged at the right end, the planetary gear train 406 includes a primary planetary gear set 462, a center sun gear 461, and the primary planetary gear set 462 is rotatably connected to the transmission shaft bracket 407 through a transmission shaft set 411, and the transmission shaft set 411 is connected to the cycloid pinwheel planetary reducer 408. The planetary gear transmission mechanism is a primary gear transmission mechanism, the center sun gear 461 at the end of the input shaft 401 is meshed with the primary planetary gear set 462, and the primary planetary gear set 462 drives the cycloid pinwheel planetary reducer 408 and the harmonic gear reducer 409 to operate through the transmission shaft set 411.

[0040] In the preferred embodiment, the cycloid pinwheel planetary reducer 408 includes a cycloid pinwheel planetary reducer sun gear 486, one end of the cycloid pinwheel planetary reducer sun gear 486 is connected to the gear train protective shell 405, the transmission shaft bracket 407 is rotatably connected to the cycloid pinwheel planetary reducer sun gear 486, and the cycloid pinwheel planetary reducer sun gear 486 is provided with a cycloid planetary gear set 481 composed of at least two cycloid planetary gears inside, and the two cycloid planetary gears are connected by at least three sets of double eccentric sleeves 482, and the double eccentric sleeves 482 are connected to the transmission shaft group 411. The rear end of the transmission shaft group 411 is connected to the harmonic gear reducer 409 through a hole pin output mechanism 487, and a plurality of cylindrical pins 484 are evenly arranged around the inner wall of the cycloid pinwheel planetary reducer sun gear 486, and a first sleeve 483 is sleeved on the outside of the cylindrical pins 484. Generally, a cycloid planetary gear set 481 consisting of two cycloid planetary gears is used, and an eccentric sleeve set 482 consisting of three double eccentric sleeves is connected to the transmission shaft set 411. The transmission shaft set 411 drives the two cycloid planetary gears to rotate, and the outer edge teeth of the cycloid planetary gear set 481 mesh with the pinwheel installed on the inner edge of the sun gear 486, so that the cycloid planetary gear set 481 drives the transmission shaft set 411 and the first-stage planetary gear set 462 to revolve around the center wheel 461 of the planetary gear system in the same direction as the rotation direction of the input shaft 401. In this process, the meshing teeth roll with high pairs, and the sleeve 483 and the cylindrical pin 484 that constitute the pinwheel roll with surface contact, which can reduce the wear of the cycloid pinwheel set 481.

[0041] The cycloid planetary gear set 481 is also provided with a plurality of pin holes. One side of the pin hole output mechanism 487 passes through the pin hole of the cycloid planetary gear set 481. A second sleeve 488 is provided between the pin hole output mechanism 487 and the cycloid planetary gear set 481. When the cycloid planetary gear set 481 rotates, the pin hole output mechanism 487 is driven to rotate in the same direction as the cycloid planetary gear set 481. Figure 4 As shown, the eccentric pin hole is used to install the pin shaft of the pin output mechanism 487, and the pin shaft is in contact with the pin hole through the second sleeve 488. The cycloid planetary gear set 481 drives the output inner shaft 414 to rotate through the pin output mechanism 487.

[0042] The other side of the hole pin output mechanism 487 is connected to the output inner shaft 414, and the other side of the hole pin output mechanism 487 is also rotationally connected to the cycloid pinwheel planetary reducer sun gear 486. The cycloid planetary gear set 481 drives the output inner shaft 414 to rotate through the hole pin output mechanism 487. The outer ring of the hole pin output mechanism 487 is set to be rotationally connected to the cycloid pinwheel planetary reducer sun gear 486.

[0043] In the preferred embodiment, the two eccentric wheels of the double eccentric set 482 are staggered 180 degrees from each other, the sun wheel 486 of the cycloid pinwheel planetary reducer is connected to the rigid wheel 495 of the harmonic gear reducer 409, and bosses are provided between the rigid wheel 495 and the gear train protection shell 405 and the sun wheel 486 of the cycloid pinwheel planetary reducer, the circular disk of the hole pin output mechanism 487 abuts against the boss of the rigid wheel 495, and the transmission shaft bracket 407 abuts against the boss of the gear train protection shell 405. Among them, the first and second spherical rollers 418 and 419 are respectively installed between the outer edges of the hole pin output mechanism 487 and the transmission shaft bracket 407 and the sun wheel 486 of the cycloid pinwheel planetary reducer, and they can rotate relative to the transmission housing. At the same time, the left end face of the transmission shaft bracket 407 cooperates with the right end face of the gear train protection case 405, and the right end face of the hole pin output mechanism 487 cooperates with the left end face of the harmonic reducer steel wheel 495, thereby limiting the axial movement of the transmission shaft group 411. A partition group 420 is installed between the transmission shaft bracket 407 and the left cycloid planetary gear 481a to prevent the double eccentric sleeve 482 from sliding axially along the transmission shaft group 411.

[0044] In the preferred embodiment, the circular disc of the harmonic gear reducer 409 is against the inside of the rigid wheel 495, a fourth bearing 417 is provided between the waveform generator 492 of the harmonic gear reducer 409 and the output inner shaft 414, a plurality of secondary planetary gear sets 491 are provided inside the waveform generator 492, the plurality of secondary planetary gear sets 491 are connected to the ends of the plurality of transmission shaft sets 411, the plurality of secondary planetary gear sets 491 are meshed with the external teeth on the inner wall of the waveform generator 492, and the outer edge of the waveform generator 492 is equipped with at least two cylindrical A cylindrical roller group 493 composed of rollers, a flexible wheel 494 is provided on the outside of the waveform generator 492, one side of the flexible wheel 494 is rotatably connected to the transmission shaft group 411 and the output outer shaft 412 through the third bearing 416, and is rotatably connected to the rigid wheel 495 through the second bearing 415 and the second sealing ring 413, the inner edge of the other side of the flexible wheel 494 cooperates with the cylindrical roller group 493 installed on the waveform generator 492, and the outer edge of the flexible wheel 494 meshes with the rigid wheel 495 where the cylindrical roller passes. The harmonic gear reduction mechanism includes a transmission shaft group 411, a harmonic gear reducer 409, and an output outer shaft 412; the input shaft of the harmonic reducer is a transmission shaft group 411 connected to the planetary gear, and the ends of the three transmission shafts 411a, 411b, and 411c are respectively connected to three secondary planetary gears 491a, 491b, and 491c; the harmonic gear reducer 409 includes a waveform generator 492, a flexible wheel 494, and a rigid wheel 495; the inner edge gear of the waveform generator 492 is meshed with the three secondary planetary gears 491a, 491b, and 491c at the same time; the outer edge of the waveform generator 492 is equipped with three cylindrical rollers 493a, 493b, and 493c; the rigid wheel 495 is meshed with The cycloid pinwheel reducer is connected to the sun gear 486, and it is also matched with the output inner shaft 414 through the bearing 417; the flexible wheel 494 is installed on the output inner shaft 414 through the bearing 416, and its right end face is connected to the output outer shaft 412, and its inner edge is matched with the cylindrical roller group 493 installed on the waveform generator, and its outer edge is meshed with the rigid wheel 495 at the point where the three cylindrical rollers 493a, 493b, and 493c pass; the left end face of the output outer shaft 412 is connected to the flexible wheel 494, and is matched with the rigid wheel 495 by means of the bearing 415 and the sealing ring 413; under the action of the harmonic reducer, the rotation direction of the output outer shaft 412 is opposite to that of the input shaft 401.

[0045] In the preferred embodiment, a second bearing group 410 is provided between the hole pin output mechanism 487 and the transmission shaft group 411 ; the second bearing group 410 can ensure a better rotation effect of the transmission shaft group 411 and the hole pin output mechanism 487 .

[0046] A first bearing group 404 is provided between the transmission shaft bracket 407 and the transmission shaft group 411 ; the first bearing group 404 can ensure that the rotation resistance between the transmission shaft bracket 407 and the transmission shaft group 411 is small and the transmission effect is better.

[0047] The outer side of the gear train protection case 405 is connected to the left end cover 421, and a first bearing 403 is provided between the input shaft 401, the gear train protection case 405 and the left end cover 421. A first sealing ring 402 is also provided on one side of the first bearing 403, and the first sealing ring 402 is provided on the left end cover 421. The first bearing 403 and the first sealing ring 402 are used together to ensure a more stable operation of the composite gear train reducer 4.

[0048] Example 2

[0049] Further illustrate with reference to Example 1, Figure 1-8 As shown, a size-adaptive drilling platform pipe grabbing manipulator of the present invention comprises a base 1, a top cover 2, a clamping mechanism 3 (ab), and a compound gear train reducer 4; the compound gear train reducer comprises a planetary gear transmission mechanism, a cycloid pinwheel planetary reduction mechanism, and a harmonic gear reduction mechanism.

[0050] The clamping mechanism includes fingers 301 (ab) and 302 (ab), connecting rods 303 (ab), 304 (ab), roller 305 (ab), and roller shaft 308 (ab); the four fingers are grouped in pairs, wherein 301a and 302a form a group, and 301b and 302b form a group, which are respectively installed on both sides of the base 1 and the top cover 2; the upper right finger 301a is connected to the output inner shaft 414 of the compound gear train reducer 4 through the upper right tail connecting rod 303a, and the finger 301a is connected to the top cover 2 by the upper right front connecting rod 304a, the double connecting rods 303a and 304a, the top cover 2, the fingers 301a constitutes a parallelogram mechanism; the end of the lower finger 302a on the right side is connected to the base 1 through two connecting rods 306a and 307a, and the double connecting rods 306a and 307a, the base 1, and the finger 302a form a parallelogram mechanism; the front ends of the upper and lower fingers 301a and 302a on the right side are connected through a roller shaft 308a, and two rollers 305a are installed on each roller shaft; the upper and lower fingers 301b and 302b on the left side are symmetrically distributed with the aforementioned 301a and 302a, and the difference is that the upper tail connecting rod 303b of the upper finger 301b on the left side is connected to the output outer shaft 412 of the compound gear train reducer 4.

[0051] The planetary gear transmission mechanism includes an input shaft 401, a planetary gear train 406, a transmission shaft group 411, and a transmission shaft bracket 407; the planetary gear train 406 includes a central sun gear 461 and three primary planetary gears 462a, 462b, and 462c, which are meshed and assembled; one end of the input shaft 401 is connected to the motor to transmit power to the reducer, and the other end of the input shaft 401 is connected to the central sun gear 461. The central sun gear 461 drives the three primary planetary gears 462a, 462b, and 462c under the drive of the input shaft 401. 2c rotates automatically; the three primary planetary gears 462a, 462b, 462c respectively drive the three transmission shafts 411a, 411b, 411c to rotate, and the rotation speed and rotation direction are the same, the transmission shaft group 411 cooperates with the shaft hole on the transmission shaft bracket 407 through the bearing group 404; the left end face of the transmission shaft bracket 407 cooperates with the right end face of the gear train protection shell 405 to prevent the transmission shaft from making axial movement to the left; a spherical roller 418 is installed between the outer edge of the transmission shaft bracket 407 and the sun gear 486 of the cycloid pinwheel planetary reducer.

[0052] The cycloid pinwheel planetary reduction mechanism includes a transmission shaft group 411, a cycloid pinwheel planetary reducer 408, and an output inner shaft 414; the input shafts of the cycloid pinwheel planetary reducer are three transmission shafts 411a, 411b, and 411c respectively connected to three primary planetary gears 462a, 462b, and 462c; the cycloid pinwheel planetary reducer 408 includes a sun gear 486, a double eccentric sleeve 482, two cycloid planetary gears 481a and 481b, and a pin output mechanism 487; one end of the cycloid pinwheel planetary reducer sun gear 486 is connected to the gear train protective shell 405, and the other end is connected to the harmonic reducer rigid wheel 495.

[0053] The inner side of the sun gear 486 contains a series of pin wheels composed of sleeves 483 and cylindrical pins 484; three sets of double eccentric sleeves 482a, 482b, 482c are respectively fixed on the three transmission shafts 411a, 411b, 411c through a flat key set 422, and the two eccentrics of each set of double eccentric sleeves are staggered 180 degrees from each other; the two cycloid planetary gears 481a and 481b have three sleeve holes, and the three sets of double eccentric sleeves 482a, 482b, 482c pass through the sleeve holes and match with the two cycloid planetary gears 481a and 481b. Cylindrical rollers 485 are installed between the planetary gear sets 481, and the double eccentric sleeve set 482 can rotate in the sleeve hole; the outer edge teeth of the cycloid planetary gear set 481 mesh with the pinwheel installed on the inner edge of the sun gear 486, so that the cycloid planetary gear set 481 drives the transmission shaft set 411 and the first-stage planetary gear set 462 to revolve around the center wheel 461 of the planetary gear system in the same direction as the input shaft 401. In this process, the meshing teeth roll with high pairs, and the sleeve 483 and the cylindrical pin 484 that constitute the pinwheel roll with surface contact, which can reduce the wear of the cycloid pinwheel set 481.

[0054] One side of the hole pin output mechanism 487 has three shaft pins with roller sleeves 488, which pass through the pin holes on the two cycloid planetary wheels 481a and 481b respectively. When the cycloid pinwheel group 481 rotates, the hole pin output mechanism 487 is driven to rotate in the same direction; the other side of the hole pin output mechanism 487 is connected to the output inner shaft 414, and at the same time, this side is also matched with the end face of the rigid wheel 495 of the harmonic gear reducer to prevent the transmission shaft group 411 from making axial movement to the right; the output inner shaft 414 passes through the center of the output outer shaft 412 through the bearing 416, and driven by the hole pin output mechanism 487, it can be independent of the output outer shaft 412 and rotate in the same direction as the input shaft 401.

[0055] The harmonic gear reduction mechanism includes a transmission shaft group 411, a harmonic gear reducer 409, and an output outer shaft 412; the input shaft of the harmonic reducer is a transmission shaft group 411 connected to the planetary gear, and the ends of the three transmission shafts 411a, 411b, and 411c are respectively connected to three secondary planetary gears 491a, 491b, and 491c; the harmonic gear reducer 409 includes a waveform generator 492, a flexible wheel 494, and a rigid wheel 495.

[0056] The inner gear of the waveform generator 492 meshes with the three secondary planetary gears 491a, 491b, and 491c at the same time. The outer edge of the waveform generator 492 is equipped with three cylindrical rollers 493a, 493b, and 493c. The rigid wheel 495 is connected to the cycloid pinwheel reducer sun gear 486 and is matched with the output inner shaft 414 through the bearing 417. The flexible wheel 494 is installed on the output inner shaft 414 through the bearing 416, and its right end face is connected to the output outer The output outer shaft 412 is connected to the shaft 412, the inner edge of which cooperates with the cylindrical roller group 493 installed on the waveform generator, and the outer edge of which meshes with the rigid wheel 495 at the point where the three cylindrical rollers 493a, 493b, and 493c pass; the left end face of the output outer shaft 412 is connected to the flexible wheel 494, and cooperates with the rigid wheel 495 by means of a bearing 415 and a sealing ring 413; under the action of the harmonic reducer, the rotation direction of the output outer shaft 412 is opposite to that of the input shaft 401.

[0057] Among them, the reducer housing is composed of a cycloid pinwheel planetary reducer sun gear 486, a harmonic gear reducer steel wheel 495, a left end cover 421 and a gear train protection shell 405; the left end cover 421 is connected to the left end face of the gear train protection shell 405, the right end face of the gear train protection shell 405 is connected to the left end face of the cycloid pinwheel planetary reducer sun gear 486, and the right end face of the cycloid pinwheel planetary reducer sun gear 486 is connected to the left end face of the harmonic gear reducer steel wheel 495.

[0058] Among them, the harmonic reducer flexible wheel 494 is connected to the output outer shaft 412 and matched with the output inner shaft 414 through the bearing 416, the bearing 415 is installed between the output outer shaft 412 and the harmonic gear reducer steel wheel 495, and the bearing 417 is installed between the harmonic generator 492 and the output inner shaft 414; the rotation of the harmonic reducer 492, the output outer shaft 412, and the output inner shaft 414 does not interfere with each other, and the transmission ratio of the output outer shaft 412 and the output inner shaft 414 can be designed independently without affecting each other;

[0059] Among them, spherical rollers 419 and 418 are respectively installed between the outer edges of the transmission shaft bracket 407 and the hole pin output mechanism 487 and the sun gear 486 of the cycloid pinwheel planetary reducer, which can rotate relative to the transmission housing. At the same time, the left end face of the transmission shaft bracket 407 cooperates with the right end face of the gear train protection shell 405, and the right end face of the hole pin output mechanism 487 cooperates with the left end face of the harmonic reducer steel wheel 495, thereby limiting the axial movement of the transmission shaft group 411.

[0060] A partition plate assembly 420 is installed between the transmission shaft bracket 407 and the left cycloid planetary gear 481 a to prevent the double eccentric sleeve assembly 482 from sliding along the transmission shaft assembly 411 .

[0061] The above embodiments are only preferred technical solutions of the present invention and should not be regarded as limiting the present invention. The protection scope of the present invention shall be the technical solutions recorded in the claims, including equivalent replacement solutions of the technical features in the technical solutions recorded in the claims. That is, equivalent replacement improvements within this scope are also within the protection scope of the present invention.

Claims

1. A size-adaptive drilling platform pipe grabbing manipulator, characterized by: The invention comprises a base (1), wherein a compound gear train reducer (4) is arranged inside the base (1), the compound gear train reducer (4) drives two output outer shafts (412) and an output inner shaft (414) with opposite rotation directions, the top of the base (1) is connected to a top cover (2), clamping mechanisms are arranged on both sides of the base (1), the middle part of the single-side clamping mechanism is hinged to the top cover (2) through a connecting rod, the connecting rods at the tail ends of the clamping mechanisms on both sides are respectively connected to the two output outer shafts (412) and the output inner shaft (414) with opposite rotation directions, and the two connecting rods and the clamping mechanism and the base (1) form a parallelogram mechanism; The clamping mechanism comprises a right clamping mechanism (3a) and a left clamping mechanism (3b), the right clamping mechanism (3a) and the left clamping mechanism (3b) are symmetrically arranged, the right clamping mechanism (3a) comprises a right upper finger (301a) and a right lower finger (302a) which are symmetrically arranged, one end of the right upper finger (301a) and the right lower finger (302a) are connected via a right roller shaft (308a), and a plurality of rollers (305a) are provided on the right roller shaft (308a); The other end of the right upper finger (301a) is hingedly connected with a right upper front connecting rod (304a) and a right upper tail connecting rod (303a); the right upper front connecting rod (304a) is rotatably connected to the top cover (2); the right upper tail connecting rod (303a) is fixedly connected to an output outer shaft (412) or an output inner shaft (414) of the composite gear train reducer (4) inside the base (1); and the left upper tail connecting rod (303b) of the left clamping mechanism (3b) is fixedly connected to an output outer shaft (412) or an output inner shaft (414) of the composite gear train reducer (4) inside the base (1); A right lower tail connecting rod (306a) and a right lower front connecting rod (307a) are hingedly connected to the right lower finger (302a), and ends of the right lower tail connecting rod (306a) and the right lower front connecting rod (307a) are respectively rotatably connected to the base (1); The composite gear train reducer (4) inside the base (1) comprises a planetary gear transmission mechanism, a cycloidal pinwheel planetary reduction mechanism, and a harmonic gear reduction mechanism. One side of the planetary gear transmission mechanism is connected to the input shaft (401), and the other side of the planetary gear transmission mechanism is connected to the harmonic gear reduction mechanism via the cycloidal pinwheel planetary reduction mechanism. The harmonic gear reduction mechanism drives the output outer shaft (412) and the output inner shaft (414) with opposite rotation directions to rotate. The planetary gear transmission mechanism comprises a gear train protection shell (405), a planetary gear train (406) is arranged inside the gear train protection shell (405), an end of an input shaft (401) passes through the gear train protection shell (405) and a central sun gear (461) is arranged at the end, the planetary gear train (406) comprises a plurality of primary planetary gear sets (462), the central sun gear (461) meshes with the plurality of primary planetary gear sets (462), the primary planetary gear set (462) is rotationally connected to a transmission shaft bracket (407) via a transmission shaft set (411), and the transmission shaft set (411) is connected to a cycloid pinwheel planetary reducer (408); The cycloid pinwheel planetary reducer (408) comprises a cycloid pinwheel planetary reducer sun gear (486), one end of the cycloid pinwheel planetary reducer sun gear (486) is connected to a gear train protection housing (405), a transmission shaft support (407) is rotatably connected to the cycloid pinwheel planetary reducer sun gear (486), a cycloid planetary gear set (481) consisting of at least two cycloid planetary gears is arranged inside the cycloid pinwheel planetary reducer sun gear (486), and the two cycloid planetary gears are connected via at least three sets of double eccentric sleeves (482). Then, the double eccentric sleeve (482) is connected to the transmission shaft assembly (411), the rear end of the transmission shaft assembly (411) passes through the hole pin output mechanism (487) and is connected to the harmonic gear reducer (409), a plurality of cylindrical pins (484) are evenly arranged around the inner wall of the sun gear (486) of the cycloid pinwheel planetary reducer, a first sleeve (483) is sleeved on the outer side of the cylindrical pins (484), and the outer edge teeth of the cycloid planetary gear assembly (481) mesh with the cylindrical pins (484) on the inner edge of the sun gear (486) of the cycloid pinwheel planetary reducer; The cycloid planetary gear set (481) is also provided with a plurality of eccentric pin holes, one side of the pin hole output mechanism (487) passes through the pin hole of the cycloid planetary gear set (481), a second sleeve (488) is provided between the pin hole output mechanism (487) and the cycloid planetary gear set (481), and when the cycloid planetary gear set (481) rotates, the pin hole output mechanism (487) is driven to rotate in the same direction as the cycloid planetary gear set (481); The other side of the hole pin output mechanism (487) is connected to the output inner shaft (414), and the other side of the hole pin output mechanism (487) is also rotationally connected to the cycloid pinwheel planetary reducer sun gear (486).

2. The size-adaptive drilling platform pipe grabbing manipulator according to claim 1 is characterized by: The two eccentric wheels of the double eccentric set (482) are staggered 180 degrees from each other; The sun gear (486) of the cycloid pinwheel planetary reducer is connected to the rigid wheel (495) of the harmonic gear reducer (409); a boss is provided between the rigid wheel (495) and the sun gear (486) of the cycloid pinwheel planetary reducer; a circular disk of the hole pin output mechanism (487) abuts against the boss of the rigid wheel (495); and a plurality of first spherical rollers (418) are provided between the hole pin output mechanism (487) and the sun gear (486) of the cycloid pinwheel planetary reducer; A boss is provided between the cycloid pinwheel planetary reducer sun gear (486) and the gear train protection shell (405), the transmission shaft bracket (407) abuts against the boss of the gear train protection shell (405), and a plurality of second spherical rollers (419) are provided between the transmission shaft bracket (407) and the cycloid pinwheel planetary reducer sun gear (486); A partition plate group (420) is also provided between the cycloid planetary gear group (481) and the transmission shaft bracket (407) or / and the hole pin output mechanism (487), and the partition plate group (420) is provided on the transmission shaft group (411).

3. The size-adaptive drilling platform pipe grabbing manipulator according to claim 1 is characterized by: The harmonic gear reducer (409) is configured as a circular disk body abutting against the inside of the rigid wheel (495); a fourth bearing (417) is provided between the waveform generator (492) of the harmonic gear reducer (409) and the output inner shaft (414); a plurality of secondary planetary gear sets (491) are provided inside the waveform generator (492); the plurality of secondary planetary gear sets (491) are connected to the ends of the plurality of transmission shaft sets (411); and the plurality of secondary planetary gear sets (491) are meshed with gear teeth on the inner wall of the waveform generator (492); The outer edge of the waveform generator (492) is equipped with a cylindrical roller group (493) composed of at least two cylindrical rollers. The outer sleeve of the waveform generator (492) is provided with a flexible wheel (494). One side of the flexible wheel (494) is rotationally connected to the output inner shaft (414) through a third bearing (416) and is fixedly connected to the output outer shaft (412). At the same time, it is rotationally connected to the rigid wheel (495) through a second bearing (415) and a second sealing ring (413). The inner edge of the other side of the flexible wheel (494) cooperates with the cylindrical roller group (493) installed on the waveform generator (492), and the outer edge of the flexible wheel (494) meshes with the rigid wheel (495) where the cylindrical roller passes.

4. The size-adaptive drilling platform pipe grabbing manipulator according to claim 1 is characterized by: A second bearing assembly (410) is provided between the hole pin output mechanism (487) and the transmission shaft assembly (411); A first bearing group (404) is provided between the transmission shaft bracket (407) and the transmission shaft group (411); The outer side of the gear train protection case (405) is connected to the left end cover (421); a first bearing (403) is provided between the input shaft (401), the gear train protection case (405) and the left end cover (421); a first sealing ring (402) is also provided on one side of the first bearing (403); and the first sealing ring (402) is provided on the left end cover (421).

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