A drilling table manipulator

Abstract

The present invention relates to the technical field of oil drilling equipment, and in particular discloses a drilling table manipulator, comprising a manipulator body, a manipulator gripper assembly, a sliding trolley, and a sliding guide rail, wherein the sliding trolley is arranged on the sliding guide rail, the manipulator body is arranged on the sliding trolley, the manipulator gripper assembly comprises a manipulator gripper box and a manipulator gripper, the manipulator gripper box is arranged at the free end of the manipulator body, and the manipulator gripper comprises a grab gripper and a push gripper, both of which are arranged on the manipulator gripper box. The present invention provides a grab gripper and a push gripper to meet the needs of grabbing drill strings and drill collars by switching the grab gripper and the grab gripper has a wide grabbing range and is easy to switch. The grab gripper clamps the drill string and can achieve vertical lifting or lowering of the drill string by its own lifting and lowering. The entire machine adopts a servo system with high control accuracy and high work efficiency. It is driven by the sliding trolley to move between the working section and the avoidance section without interfering with other equipment.

Description

Technical Field

[0001] The present invention relates to the technical field of oil drilling equipment, in particular to a drilling floor manipulator. Background Art

[0002] Drilling operations are the primary link in the oil production process to exploit oil wells and ensure normal oil production. At present, with the advancement of science and technology, automated drilling rigs are the development direction of oil drilling equipment. They are also an effective measure to improve the on-site working environment, improve drilling operation efficiency, reduce labor intensity, and enhance the level of equipment automation. The drill floor manipulator is a major wellhead automation equipment. It is usually coordinated with the second-level manipulator to replace the drill floor operator to complete the handling of the drill string between the wellhead and the root box. It can also assist the iron roughneck to complete the centering operation when the drill string is connected during the drilling process.

[0003] The drilling floor manipulator generally includes a walking mechanism, a telescopic mechanism and a claw. The walking mechanism is installed on the drilling floor, the telescopic mechanism is fixed on the walking mechanism, and the claw is hinged at the front end of the manipulator arm. When the drill string needs to be moved, the walking mechanism moves on the drilling floor, driving the telescopic mechanism and the claw to move to the drill string position. The telescopic mechanism extends the arm, driving the claw to clamp the drill string, and pushes and moves the drill string.

[0004] During the drilling process, in order to prevent the drill string from being damaged by force, a drill collar needs to be connected to the lower end of the drill string. Therefore, the weight and diameter of the drill collar are required to be larger than the drill string. Although the gripper can clamp the drill string, it cannot clamp the drill collar. In order to meet the clamping requirements of the drill collar, the gripper often needs to be replaced. The replacement process generally requires the use of special tools and takes a long time to complete. In addition, debugging is required after the replacement is completed, which wastes a lot of production operation time and reduces production efficiency.

[0005] Therefore, it is necessary to propose a drill table manipulator improvement to overcome the defects of the prior art. Summary of the Invention

[0006] The purpose of the present invention is to solve the problems in the prior art and provide a drilling table manipulator with an integrated claw installation. There is no need to disassemble and replace the claw. The drill string and drill collar can be clamped by switching the claws. The switching is convenient and the work efficiency is high.

[0007] The technical solution of the present invention is:

[0008] A drilling table manipulator includes a manipulator arm body, a sliding trolley and a sliding guide rail. The sliding trolley is movably set on the sliding guide rail, and the manipulator arm body is rotatably set on the sliding trolley. It also includes a manipulator gripper assembly. The manipulator gripper assembly includes a manipulator gripper box and a manipulator gripper. The manipulator gripper box is set at the free end of the manipulator arm body. The manipulator gripper includes a grabbing gripper and a pushing gripper. The grabbing gripper and the pushing gripper are both set on the manipulator gripper box.

[0009] The above structure is adopted, and a manipulator claw box is hinged at the free end of the manipulator arm body. When the manipulator arm body is extended, the manipulator claw box can maintain a vertical state with the ground to ensure effective grasping of the drill string or drill collar. The grabbing claw and the pushing claw are integrated on the manipulator claw box. The overall structure is compact. The grabbing claw can be used to grab the drill string, and the pushing claw can be used to grab the drill collar. The grasping range is wide, the claw does not need to be disassembled and replaced, the switching is simple and convenient, and the work efficiency is high. The manipulator arm body is driven by the sliding trolley to switch between the working section and the avoidance section without the help of other auxiliary mechanisms, and the switching is smooth.

[0010] Preferably, the manipulator gripper box includes a gripper fixing middle seat, a grabbing gripper fixing seat and a pushing gripper fixing seat. The gripper fixing middle seat is hinged to the free end of the manipulator body. The grabbing gripper fixing seat is arranged inside the gripper fixing middle seat through a lifting mechanism. The grabbing gripper is arranged at the bottom of the grabbing gripper fixing seat. The pushing gripper fixing seat is arranged on the upper part of the gripper fixing middle seat through a flipping mechanism. The pushing gripper is arranged at the front end of the pushing gripper fixing seat.

[0011] By adopting the above mechanism, the grab claw and the push claw are integrated and installed using the claw fixing middle seat. The structure is compact and occupies little space. The lifting mechanism drives the grab claw to lift and lower the drill string in the vertical direction, and the flipping mechanism drives the push claw to switch between the folded state and the working state, avoiding the interference of the push claw when it is not working.

[0012] Preferably, the lifting claw includes a mounting base, a first gear box, a first driver and two symmetrically arranged lifting fingers, the first gear box is arranged in the mounting base, the first driver is arranged on the mounting base and is transmission-connected to the first gear box, the lifting fingers include a clamping part and two upper and lower connecting parts, the two connecting parts extend into the mounting base and are respectively located at the upper and lower ends of the first gear box, one end of the connecting part away from the clamping part is hinged to one end of the rear lifting link, the other end of the rear lifting link is transmission-connected to the first gear box, and an incomplete gear is provided at this end, the front middle part of the clamping part is hinged to one end of the front lifting link, and the other end of the front lifting link is hinged to the mounting base, a groove is provided on the inner surface of the clamping part, a tooth plate is provided in the groove, teeth are provided on the front side of the tooth plate, a spherical protrusion is provided on the rear side of the tooth plate, a boss corresponding to the spherical protrusion is provided in the groove, and a spring is provided under the tooth plate.

[0013] The above structure is adopted, and a four-bar linkage is formed by the articulation of the grabbing fingers, the front grabbing link and the rear grabbing link. The swinging clamping of the grabbing fingers is realized through the transmission of the first gear box, and the synchronous action of the two grabbing fingers is realized through the engagement of the incomplete gear on the rear grabbing link. The synchronization is high, and after the transmission of the first gear box, the two grabbing fingers can output a large clamping force and the clamping is stable. The spherical protrusion structure on the rear side of the tooth plate allows the tooth plate to swing with multiple degrees of freedom front and back and left and right, and can still maintain line contact when the contact surface between the drill string and the grabbing fingers is not parallel, thereby ensuring the friction of the grabbing fingers. The boss corresponding to the spherical protrusion can ensure that when the grabbing claw clamps and lifts the drill string, the drill string can be further clamped by the dead weight of the drill string. The spring installed under the tooth plate can reset the tooth plate when the grabbing finger releases the drill string.

[0014] Preferably, the pushing claw includes a second gear box, a second driver and two symmetrically arranged pushing fingers, the second gear box is arranged at the front end of the pushing claw fixing seat, the second driver is arranged on the second gear box, and is transmission connected to the second gear box, the rear end of the pushing finger is hinged to one end of the pushing rear connecting rod, the other end of the pushing rear connecting rod is transmission connected to the second gear box, the middle part of the pushing finger is hinged to one end of the pushing front connecting rod, and the other end of the pushing front connecting rod is hinged to the second gear box, the inner surface of the front end of the pushing finger is rotatably provided with a guide wheel, and the front end surface of the second gear box is rotatably provided with a V-shaped roller.

[0015] By adopting the above structure, the connecting rod structure formed by the mutual hinge between the pushing fingers, the pushing front connecting rod and the pushing rear connecting rod is used to convert the rotational output of the second driver into the clamping swing of the two pushing fingers, thereby realizing the pushing of the drill string. The transmission of the second gear box is used to enable the pushing fingers to obtain a greater clamping force, stable clamping, and meet the needs of grabbing large-sized drill collars. The rotatable guide wheel and V-shaped roller are used to complete the guidance and straightening of the drill string or drill collar.

[0016] Preferably, the flipping mechanism is an electric push rod, the fixed end of the electric push rod is hinged on the hand claw fixed middle seat, the protruding end of the electric push rod is hinged to the rear end of the pushing hand claw fixed seat, the lifting mechanism includes a third drive, a screw and a connecting nut, the third drive is arranged on the hand claw fixed middle seat, the upper end of the screw is connected to the output shaft of the third drive, the lower end of the screw passes through the mounting base and is threadedly connected to the connecting nut, the connecting nut is arranged on the mounting base, and a plurality of guide bearings are arranged on the left and right side walls of the grabbing hand claw fixed seat, and the plurality of guide bearings are in contact with the inner side wall of the hand claw fixed middle seat and rolling fit.

[0017] By adopting the above structure, the electric push rod is used to drive the pushing claw to switch between the folded state and the working state. When the pushing claw is not in use, the electric push rod drives the pushing claw to be in the folded state, thereby improving the safety of the pushing claw. The third drive is used to drive the screw to rotate, and the screw and the connecting nut are matched to drive the grab claw to rise and fall, so that the grab claw drives the drill string to be vertically lifted off the ground or lowered. The guide bearing is in rolling contact with the inner side wall of the claw fixing seat to guide the up and down movement of the grab claw fixing seat to ensure smooth up and down movement.

[0018] Preferably, the robotic arm body includes a base, an upper arm, an upper arm connecting rod, a lower arm, an upper arm connecting rod, a triangular connecting plate and a turntable reducer. The turntable reducer is arranged on the sliding trolley, and the base is arranged on the turntable reducer. The lower ends of the upper arm and the upper arm connecting rod are hinged to the base, and the upper ends of the upper arm and the upper arm connecting rod are hinged to the triangular connecting plate. One end of the lower arm and the lower arm connecting rod is hinged to the triangular connecting plate, and the other end of the lower arm and the lower arm connecting rod is hinged to the gripper fixed middle seat. A first actuator is arranged between the base and the upper arm, and a second actuator is arranged between the upper arm and the lower arm. Hydraulic cylinders are respectively arranged on both sides of the upper arm, the fixed end of the hydraulic cylinder is hinged to the base, and the protruding end of the hydraulic cylinder is hinged to the upper arm.

[0019] By adopting the above structure, a parallelogram linkage mechanism is formed by the hinge connection between the boom and the boom connecting rod and the base and the triangular connecting plate. A parallelogram linkage mechanism is also formed by the hinge connection between the forearm and the forearm connecting rod and the triangular connecting plate and the hand-claw fixed middle seat. Through the two linkage mechanisms, the stability of the extension and retraction of the boom and the forearm and the accuracy of the position are guaranteed. The hydraulic cylinder installed on the boom is used to store energy when the boom is extended. When the boom is retracted, the hydraulic cylinder releases the stored energy to assist the action of the first actuator, thereby improving efficiency and reducing energy consumption.

[0020] Preferably, the sliding trolley includes a trolley body and two leg assemblies, the two leg assemblies are rotatably arranged on both sides of the bottom of the trolley body, the leg assembly includes a leg frame, a slewing bearing and four roller frames, the leg frame is connected to the trolley body through the slewing bearing, the four roller frames are symmetrically and evenly arranged at both ends of the leg frame, two rollers are provided on the roller frame, and straightening wheels are provided at both ends of the leg frame, and the direction of the straightening wheels is perpendicular to the direction of the rollers. A fourth drive is provided on one of the leg assemblies, and a driving gear is fixed to the output shaft of the fourth drive.

[0021] With the above structure, the leg assembly is connected to the trolley body through a slewing support, and each leg assembly can rotate freely, ensuring the smooth movement and steering of the trolley body on the sliding guide rail. The leg frame with a bridge structure is mounted astride the sliding guide rail to ensure that when the trolley body is subjected to an overturning moment by the robotic arm body, the upper and lower rollers on the roller frame can be subjected to force at the same time, thereby ensuring the stability of the trolley body and the robotic arm body. The straightening wheels installed perpendicular to the rollers are used to ensure that the leg assembly remains perpendicular to the sliding guide rail when moving, thereby improving the stability of the sliding trolley movement.

[0022] Preferably, the sliding guide rail includes a first straight guide rail, an arc-shaped guide rail and a second straight guide rail connected in sequence. Racks are provided on the first straight guide rail, the arc-shaped guide rail and the second straight guide rail. The racks are engaged with the driving gear. Through the engagement of the driving gear and the rack, the sliding trolley and the robotic arm body are driven to move between the working section and the avoidance section of the sliding guide rail, avoiding interference with other processes. The movement is flexible and smooth, and the operation is simple and convenient.

[0023] Preferably, a drilling table manipulator also includes a control box, which is arranged on one side of the trolley body. The first drive, the second drive, the third drive, the fourth drive, the electric push rod, the first actuator, the second actuator and the turntable reducer are respectively electrically connected to the control box. The control box can move with the sliding trolley to achieve local and follow-up control.

[0024] Preferably, the first driver, the second driver, the third driver, the fourth driver and the fifth driver are servo motors with reducers, and the first actuator and the second actuator are servo electric push rods. The servo system is used to achieve high-precision control and eliminate the influence of mechanical structure gap on motion accuracy.

[0025] Compared with the prior art, the present invention has the following beneficial effects:

[0026] The present invention has a wide grasping range by providing a grabbing claw and a pushing claw. The grabbing claw meets the requirements for clamping drill strings in the range of 27 / 8-5 1 / 2 inches. When grabbing drill collars beyond this range, the requirements can be met by switching the pushing claw. There is no need to disassemble and replace the claws. The switching is convenient and the work efficiency is high. After the grabbing claw clamps the drill string, it can realize vertical lifting or lowering of the drill string by itself, ensuring that the mechanical arm body completes the placement of the drill string while remaining stationary. The whole machine adopts a servo system with high control accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 A schematic diagram of the three-dimensional structure of the present invention;

[0028] Figure 2 Schematic diagram of the three-dimensional structure of the robot gripper assembly of the present invention Figure 1 ;

[0029] Figure 3 Schematic diagram of the three-dimensional structure of the robot gripper assembly of the present invention Figure 2 (excluding the gripper fixing middle seat);

[0030] Figure 4 Schematic diagram of the three-dimensional structure of the grabbing claw of the present invention Figure 1 ;

[0031] Figure 5 Schematic diagram of the three-dimensional structure of the grabbing claw of the present invention Figure 2 ;

[0032] Figure 6 This is a schematic diagram of the three-dimensional structure of the grabbing finger of the present invention;

[0033] Figure 7 It is a schematic diagram of the three-dimensional structure of the pressing plate of the present invention;

[0034] Figure 8 This is a schematic diagram of the three-dimensional structure of the snatch rear connecting rod of the present invention;

[0035] Figure 9 This is a schematic diagram of the three-dimensional structure of the push-holding claw of the present invention;

[0036] Figure 10 This is a schematic diagram of the three-dimensional structure of the robotic arm body of the present invention;

[0037] Figure 11 This is a schematic diagram of the three-dimensional structure of the sliding trolley of the present invention;

[0038] Figure 12 It is a schematic diagram of the three-dimensional structure of the leg assembly of the present invention;

[0039] Figure 13 It is a schematic diagram of the three-dimensional structure of the sliding guide rail of the present invention.

[0040] Among them, 1. Hand claw fixing seat; 2. Grab hand claw fixing seat; 3. Push hand claw fixing seat; 4. Mounting base; 5. First gear box; 6. First drive; 7. Grab finger; 71. Clamping part; 711. Groove; 712. Boss; 72. Connecting part; 8. Grab rear connecting rod; 81. Incomplete gear; 9. Grab front connecting rod; 10. Tooth plate; 101. Tooth; 102. Spherical protrusion; 11. Spring; 12. Second gear box; 13. Second drive; 14. Push finger; 15. Guide wheel; 16. V-shaped roller; 17. Electric push rod; 18. Third drive; 19. Screw; 20. Connecting nut; 21. Guide bearing; 22. Base; 23. Upper arm; 24. Upper arm connecting rod; 25. Lower arm; 26. Lower arm connecting rod; 27. Triangular connecting plate; 28. Turntable reducer; 29. ​​First actuator; 30. Second actuator; 31. Hydraulic cylinder; 32. Trolley body; 33. Outrigger frame; 34. Slewing bearing; 35. Roller frame; 36. Roller; 37. Straightening wheel; 38. Fourth drive; 39. Driving gear; 40. First straight guide rail; 41. Arc guide rail; 42. Second straight guide rail; 43. Rack; 44. Control box; 45. Front push-support link; 46. Rear push-support link. DETAILED DESCRIPTION

[0041] In order to make the technical means, technical features, invention objectives and technical effects achieved by the present invention easier to understand, the present invention is further described below with reference to specific illustrations.

[0042] Reference Figure 1 A drilling table manipulator includes a manipulator arm body, a manipulator gripper assembly, a sliding trolley and a sliding guide rail. The manipulator arm body is installed on the sliding trolley and can rotate on the sliding trolley to realize grasping operations in multi-dimensional space. The sliding trolley drives the manipulator arm body to move on the sliding guide rail and switch between the avoidance area and the working area, avoiding interference with other equipment and eliminating safety hazards caused by operational errors. The manipulator gripper assembly includes a manipulator gripper box and a manipulator gripper. The manipulator gripper box is hingedly mounted on the free end of the manipulator arm body. When the manipulator arm body is extended, the manipulator gripper box always remains vertical to the ground, which is convenient for the placement of drill strings or drill collars. The manipulator gripper includes a grabbing gripper and a pushing gripper. The grabbing gripper and the pushing gripper are integrated and mounted on the manipulator gripper box. The overall structure is compact.

[0043] The above structure is adopted, and a manipulator claw box is hinged at the free end of the manipulator arm body. When the manipulator arm body is extended, the manipulator claw box can maintain a vertical state with the ground to ensure effective grasping and placement of the drill string or drill collar. The grabbing claw and the pushing claw are integrated and installed on the manipulator claw box. During actual work, they can be switched according to the size requirements of the drill string or drill collar that needs to be grasped. The overall structure is compact, and the grabbing claw can meet the clamping and grasping of drill strings in the range of 2 7 / 8-5 1 / 2 inches. When it is necessary to grasp the drill collar that is out of range, the grasping requirement can be achieved by switching to the pushing claw. There is no need to disassemble and replace the claw as a whole. The grasping range is wide and the switching is simple and convenient. The manipulator arm body is driven by the sliding trolley to switch between the working section and the avoidance section. No other auxiliary mechanisms are required, and the switching is smooth.

[0044] Reference Figure 2-Figure 3 The manipulator gripper box includes a gripper fixing seat 1, a grabbing gripper fixing seat 2 and a pushing gripper fixing seat 3. The gripper fixing seat 1, the grabbing gripper fixing seat 2 and the pushing gripper fixing seat 3 are all welded with steel plates, with high structural strength and easy processing. The gripper fixing seat 1 is hinged to the free end of the manipulator body, the grabbing gripper fixing seat 2 is installed inside the gripper fixing seat 1, and is driven to rise and fall in the gripper fixing seat 1 by the lifting mechanism. The grabbing gripper is installed at the bottom of the grabbing gripper fixing seat 2, and the pushing gripper fixing seat 3 is hinged to the upper part of the gripper fixing seat 1, and is driven to switch between the folding state and the working state by the flipping mechanism. The pushing gripper is installed at the front end of the pushing gripper fixing seat 3.

[0045] By adopting the above mechanism, the grabbing claw and the pushing claw are integrated and installed using the claw fixing middle seat 1. The overall structure is compact, occupies a small space, and can be easily switched. The lifting mechanism drives the grabbing claw to lift and lower the drill string in the vertical direction when the mechanical arm body is stationary. The flipping mechanism drives the pushing claw to switch between the folded state and the working state. The switching is convenient and fast, avoiding interference between the pushing claw when it is not working, and has high safety in use.

[0046] Reference Figure 4-Figure 8The lifting gripper includes a mounting base 4, a first gear box 5, a first driver 6 and two lifting fingers 7. The two lifting fingers 7 are installed in a symmetrical manner with respect to the central plane of the mounting base 4. The interior of the mounting base 4 is hollow for installing the first gear box 5. The first driver 6 is installed on the top of the mounting base 4 and is connected to the first gear box 5. The first driver 6 adopts a servo motor with a reducer, and the control precision is high. Each lifting finger 7 includes a clamping part 71 and two upper and lower connecting parts 72. The two connecting parts 72 extend into the mounting base 4 and are respectively located on the upper and lower sides of the first gear box 5. The connecting part 72 is hinged to one end of the lifting rear link 8 at the end away from the clamping part 71, and the other end of the lifting rear link 8 is connected to the first gear box 5 for transmission and is driven to rotate by the first gear box 5. The lifting rear link 8 is processed with an incomplete gear 81 at one end connected to the first gear box 5 for transmission. The incomplete gears 81 of the two lifting rear links 8 are meshed with each other, driving the two lifting fingers 7 to swing and clamp synchronously, and passing through The transmission of the reducer and the first gear box 5 can make the clamping part 71 of the grabbing finger 7 obtain a larger clamping force to ensure the stability of the drill string clamping. The front middle part of the clamping part 71 is hinged to one end of the grabbing front link 9, and the other end of the grabbing front link 9 is hinged to the mounting base 4. Grooves 711 are machined on the inner surface of the clamping part 71 and the front end surface of the first gear box 5. A tooth plate 10 is installed in the groove 711. The front side surface of the tooth plate 10 is machined with teeth 101 to increase the friction between the tooth plate 10 and the drill string. A spherical protrusion 102 is machined on the rear side of the tooth plate 10, and a boss 712 corresponding to the spherical protrusion 102 is also installed in the groove 711. When the tooth plate 10 is in a free state, the spherical protrusion 102 is located above the boss 712. When the lifting claw clamps and lifts the drill string, the drill string drives the tooth plate 10 to slide downward. The boss 712 contacts the spherical protrusion 102, generating an outward thrust on the tooth plate 10, so that the tooth plate 10 further clamps the drill string. A spring 11 is installed below the tooth plate 10.

[0047] With the above structure, a four-bar linkage is formed by articulating the grabbing fingers 7, the front grabbing link 9 and the rear grabbing link 8, which converts the rotational motion of the first driver 6 into the swinging clamping of the grabbing fingers 7, and the engagement of the incomplete gear 81 on the rear grabbing link 8 to achieve the synchronous action of the two grabbing fingers 7 with high synchronization. Moreover, after the transmission of the first gear box 5, the two grabbing fingers 7 can output a large clamping force and the clamping is stable. Through the specific external structure of the grabbing fingers 7 and the specific lengths of the front grabbing link 9 and the rear grabbing link 8, the grabbing fingers 7 are able to open to the maximum. The outermost side is smaller than the maximum width of the mounting base 4, ensuring that there will be no interference with other drill strings when grabbing the drill string in the root box. The spherical protrusion 102 structure on the rear side of the tooth plate 10 allows the tooth plate 10 to swing in multiple degrees of freedom, front and back, left and right, and can still maintain line contact when the contact surface between the drill string and the grabbing finger 7 is not parallel, ensuring the friction of the grabbing finger 7. The boss 712 corresponding to the spherical protrusion 102 can ensure that when the grabbing claw clamps and lifts the drill string, the drill string can be further clamped by relying on its own weight. The spring 11 installed under the tooth plate 10 can reset the tooth plate 10 when the grabbing finger 7 releases the drill string.

[0048] Reference Figure 9 The pushing claw includes a second gear box 12, a second driver 13 and two symmetrically installed pushing fingers 14. The second gear box 12 is installed at the front end of the pushing claw fixing base 3. The second driver 13 is installed on the second gear box 12 and is transmission connected to the second gear box 12. The rear end of the pushing finger 14 is hinged to one end of the pushing rear link 46, and the other end of the pushing rear link 46 is transmission connected to the second gear box 12. The middle part of the pushing finger 14 is hinged to one end of the pushing front link 45, and the other end of the pushing front link 45 is hinged to the housing of the second gear box 12. A guide wheel 15 is installed on the inner surface of the front end of the pushing finger 14, and the guide wheel 15 is rotatable. A V-shaped roller 16 is installed on the front end surface of the second gear box 12, and the V-shaped roller 16 is rotatable.

[0049] By adopting the above structure, a four-bar structure is formed by the mutual hinge between the pushing fingers 14, the pushing front link 45 and the pushing rear link 46, and the rotational output of the second driver 13 is converted into the clamping swing of the two pushing fingers 14 to achieve the clamping of the drill collar. Moreover, through the transmission of the second gear box 12, the pushing fingers 14 obtain a greater clamping force and stable clamping, which can meet the needs of grabbing drill collars of a wide range of sizes. The rotatable guide wheel 15 and the V-shaped roller 16 are used to complete the guidance and straightening of the drill collar when grabbing.

[0050] Reference Figure 2-Figure 3The flip mechanism adopts an electric push rod 17. The fixed end of the electric push rod 17 is hinged on the hand claw fixed middle seat 1. The protruding end of the electric push rod 17 is hinged to the rear end of the push-hold hand claw fixed seat 3. The lifting mechanism includes a third driver 18, a screw 19 and a connecting nut 20. The third driver 18 is installed on the hand claw fixed middle seat 1. The third driver 18 adopts a servo motor with a reducer, which has high control accuracy. The upper end of the screw 19 is connected to the output shaft of the third driver 18. The screw 19 is driven by the third driver 18 to rotate. The lower end of the screw 19 passes through the mounting base 4 and is threadedly connected to the connecting nut 20. The connecting nut 20 is mounted on the mounting base 4. The screw 19 rotates and drives the grab claw fixed seat 2 to rise and fall through the connecting nut 20. A plurality of guide bearings 21 are installed on the left and right side walls of the grab claw fixed seat 2. The plurality of guide bearings 21 are respectively in contact with the front and rear, left and right side walls of the hand claw fixed seat 1, and can roll on the side walls to limit and guide the lifting of the grab claw fixed seat 2.

[0051] With the above structure, the electric push rod 17 is used to drive the pushing claw to switch between the folded state and the working state. When the pushing claw is not in use, the electric push rod 17 drives the pushing claw to the folded state, avoiding the interference between the pushing claw and the drill string, and improving the safety of the pushing claw. The third driver 18 is used to drive the screw 19 to rotate, and the screw 19 is matched with the thread of the connecting nut 20 to drive the lifting claw to rise and fall, so that the lifting claw drives the drill string vertically off the ground or put it down. The guide bearing 21 is in rolling contact with the inner wall of the claw fixing seat 1 to guide the up and down movement of the grabbing claw fixing seat 2 to ensure smooth up and down movement.

[0052] Reference Figure 10The robot arm body includes a base 22, a big arm 23, a big arm connecting rod 24, a small arm 25, a small arm connecting rod 26, a triangular connecting plate 27 and a turntable reducer 28. The turntable reducer 28 is installed on the sliding trolley to drive the robot arm body to rotate on the trolley body 32. The base 22 is installed on the turntable reducer 28. The lower ends of the big arm 23 and the big arm connecting rod 24 are hinged to the base 22 through a pin shaft. The upper ends of the big arm 23 and the big arm connecting rod 24 are hinged to the triangular connecting plate 27 through a pin shaft. One end of the small arm 25 and the small arm connecting rod 26 are hinged to the triangular connecting plate 27 through a pin shaft. The other ends of the small arm 25 and the small arm connecting rod 26 are hinged to the gripper fixed middle seat 1 through a pin shaft. A first robot is connected between the base 22 and the big arm 23. The first actuator 29 has a fixed end hinged on the base 22, and an extended end of the first actuator 29 is hinged on the boom 23. A second actuator 30 is connected between the boom 23 and the forearm 25. The fixed end of the second actuator 30 is hinged on the boom 23, and the extended end of the second actuator 30 is hinged on the forearm 25. Both the first actuator 29 and the second actuator 30 adopt servo electric push rods, which can accurately control the extended length and height of the boom 23 and the forearm 25, so as to achieve accurate control of the spatial position of the grabbing claw and the pushing claw. Hydraulic cylinders 31 are respectively connected to both sides of the boom 23, and the fixed end of the hydraulic cylinder 31 is hinged on the base 22. The extended end of the hydraulic cylinder 31 is hinged on the boom 23. The hydraulic cylinder 31 has an energy storage function.

[0053] By adopting the above structure, a parallelogram linkage mechanism is formed by hinged connection between the upper arm 23 and the upper arm connecting rod 24 and the base 22 and the triangular connecting plate 27. A parallelogram linkage mechanism is also formed by hinged connection between the lower arm 25 and the lower arm connecting rod 26 and the triangular connecting plate 27 and the hand-fixed middle seat 1. Through the two linkage mechanisms, the stability of the extension and retraction of the upper arm 23 and the lower arm 25 and the accuracy of the position are guaranteed. By using the hydraulic cylinder 31 with energy storage function installed on the upper arm 23, when the upper arm 23 is extended, the hydraulic cylinder 31 stores energy. When the upper arm 23 is retracted, the hydraulic cylinder 31 releases the stored energy to assist the first actuator 29 in its operation, thereby improving efficiency and reducing energy consumption.

[0054] Reference Figure 11-13The sliding guide rail includes a first straight guide rail 40, an arc-shaped guide rail 41 and a second straight guide rail 42 connected in sequence, and a rack 43 is installed between the first straight guide rail 40, the arc-shaped guide rail 41 and the second straight guide rail 42. The first straight guide rail 40, the arc-shaped guide rail 41 and the second straight guide rail 42 are all processed with slideways for facilitating the sliding of the sliding trolley. The interiors of the first straight guide rail 40, the arc-shaped guide rail 41 and the second straight guide rail 42 are all hollow structures for installing cable drag chains. The sliding trolley includes a trolley body 32 and two leg assemblies. The turntable reducer 28 is installed on the trolley body 32. The two leg assemblies are rotatably connected to the bottom sides of the trolley body 32. The leg assembly includes a leg frame 33, a slewing bearing 34 and four roller frames 35. The leg frame 33 adopts a bridge structure to straddle the sliding guide rail. The leg frame 33 is connected to the trolley through the slewing bearing 34 The vehicle body 32 is connected, and four roller frames 35 are evenly distributed and installed at both ends of the leg frame 33. The two roller frames 35 at the same end are arranged at intervals up and down, and two rollers 36 are installed side by side on the roller frames 35. After installation, the upper and lower end surfaces of the slide are in contact with rollers 36, and the rollers 36 roll with the slide. A straightening wheel 37 is installed on the leg frame 33, and the straightening wheel 37 is located between the two roller frames 35. The direction of the straightening wheel 37 is perpendicular to the direction of the roller 36, and the straightening wheel 37 is in rolling contact with the side of the slide, which is used to ensure that the leg frame 33 is always perpendicular to the sliding track during movement. A fourth driver 38 is installed on one of the leg assemblies, and a driving gear 39 is fixed to the output shaft of the fourth driver 38. The driving gear 39 is engaged with the rack 43 to drive the sliding trolley to move on the sliding track. The fourth driver 38 adopts a servo motor with a reducer, and the position control is accurate.

[0055] With the above structure, the leg assembly is connected to the trolley body 32 through a slewing support, and each leg assembly can rotate freely, ensuring that the trolley body 32 moves and turns smoothly on the sliding guide rail, especially on the arc section guide rail 41. The leg frame 33 of the bridge structure is mounted across the sliding guide rail to ensure that when the trolley body 32 receives the overturning moment of the mechanical arm body, the rollers 36 on the roller frame 35 can be stressed at the same time, ensuring the stability of the trolley body 32 and the mechanical arm body. The straightening wheels 37 installed perpendicular to the rollers 36 are used to ensure that the leg assembly remains perpendicular to the sliding guide rail when moving, thereby improving the stability of the sliding trolley movement. The driving gear 39 is engaged with the rack 43 to drive the sliding trolley and the mechanical arm body to move between the working section and the avoidance section, avoiding interference with other processes. The movement is flexible and smooth, and the operation is simple and convenient.

[0056] Reference Figure 1A drilling table manipulator also includes a control box 44, which is installed on one side of the trolley body 32 and can move synchronously with the trolley body 32. The first driver 6, the second driver 13, the third driver 18, the fourth driver 38, the electric push rod 17, the first actuator 29, the second actuator 30 and the turntable reducer 28 are respectively electrically connected to the control box 44, and the connected cables are centrally installed inside the sliding guide rail through a cable drag chain to protect the cables and the cable drag chain from damage by external forces.

[0057] The working principle of the present invention is as follows: when in use, the first actuator 29 and the second actuator 30 push the upper arm 23 and the lower arm 25 to extend into place respectively, the grab claw moves, the grab fingers 7 are retracted to clamp the drill string, the third driver 18 is started, the screw rod and the connecting nut 20 are driven to drive the grab claw to rise, the drill string is lifted off the ground, the upper arm 23 and the lower arm 25 are retracted, the drill string is moved out of the root box, the fourth driver 38 is started, the sliding trolley is driven to move along the sliding guide rail to the working area, the turntable reducer 28 is started to control the mechanical arm body to rotate to the wellhead direction, the upper arm 23 and the lower arm 25 are extended so that the drill string is aligned with the wellhead, the grab fingers 7 are opened, the drill string is placed in the wellhead, and the work is completed. When it is necessary to grab a drill collar that exceeds the grab range of the grab claw, the electric push rod 17 is started to push the push claw from the folded state to the working state, and the push claw completes the work of taking and placing the drill collar.

[0058] The above description is only a preferred embodiment of the present invention and is not intended to limit the scope of the present invention. That is, any equivalent changes and modifications made according to the content of the patent application of the present invention should fall within the technical scope of the present invention.

Claims

1. A drilling table manipulator, comprising a manipulator body, a sliding carriage, and a sliding guide rail, wherein the sliding carriage is movably disposed on the sliding guide rail, and the manipulator body is rotatably disposed on the sliding carriage, characterized in that: It also includes a manipulator gripper assembly, the manipulator gripper assembly including a manipulator gripper box and a manipulator gripper, the manipulator gripper box is arranged at the free end of the manipulator arm body, the manipulator gripper includes a grabbing gripper and a pushing gripper, the grabbing gripper and the pushing gripper are both arranged on the manipulator gripper box; The manipulator gripper box comprises a gripper fixing middle seat (1), a grabbing gripper fixing seat (2) and a pushing gripper fixing seat (3), wherein the gripper fixing middle seat (1) is hinged to the free end of the manipulator body, the grabbing gripper fixing seat (2) is arranged inside the gripper fixing middle seat (1) through a lifting mechanism, the grabbing gripper is arranged at the bottom of the grabbing gripper fixing seat (2), the pushing gripper fixing seat (3) is arranged on the upper part of the gripper fixing middle seat (1) through a flipping mechanism, and the pushing gripper is arranged at the front end of the pushing gripper fixing seat (3); The pushing claw comprises a second gear box (12), a second driver (13) and two symmetrically arranged pushing fingers (14), wherein the second gear box (12) is arranged at the front end of the pushing claw fixing seat (3), the second driver (13) is arranged on the second gear box (12) and is transmission-connected to the second gear box (12), the rear end of the pushing finger (14) is hinged to one end of the pushing rear connecting rod (46), the other end of the pushing rear connecting rod (46) is transmission-connected to the second gear box (12), the middle part of the pushing finger (14) is hinged to one end of the pushing front connecting rod (45), the other end of the pushing front connecting rod (45) is hinged to the second gear box (12), the inner surface of the front end of the pushing finger (14) is rotatably provided with a guide wheel (15), and the front end surface of the second gear box (12) is rotatably provided with a V-shaped roller (16); The flipping mechanism is an electric push rod (17), the fixed end of the electric push rod (17) is hinged on the hand claw fixed middle seat (1), and the extended end of the electric push rod (17) is hinged to the rear end of the push hand claw fixed seat (3). The lifting mechanism includes a third driver (18), a screw (19) and a connecting nut (20). The third driver (18) is set on the hand claw fixed middle seat (1), the upper end of the screw (19) is connected to the output shaft of the third driver (18) by transmission, and the lower end of the screw (19) passes through the mounting base (4) and is threadedly connected to the connecting nut (20). The connecting nut (20) is set on the mounting base (4). A plurality of guide bearings (21) are set on the left and right side walls of the grabbing hand claw fixed seat (2), and the plurality of guide bearings (21) are in contact with the inner side wall of the hand claw fixed middle seat (1) and are in rolling fit.

2. The drilling floor manipulator according to claim 1, characterized in that: The grabbing gripper comprises a mounting base (4), a first gear box (5), a first driver (6) and two symmetrically arranged grabbing fingers (7), wherein the first gear box (5) is arranged in the mounting base (4), the first driver (6) is arranged on the mounting base (4) and is in transmission connection with the first gear box (5), the grabbing finger (7) comprises a clamping portion (71) and two upper and lower connecting portions (72), the two connecting portions (72) extend into the mounting base (4) and are respectively located at the upper and lower ends of the first gear box (5), the end of the connecting portion (72) away from the clamping portion (71) is hinged to one end of the grabbing rear connecting rod (8), and the grabbing rear connecting rod The other end of (8) is connected to the first gear box (5) in a transmission manner, and an incomplete gear (81) is provided at the end. The front middle part of the clamping part (71) is hinged to one end of the grabbing front link (9), and the other end of the grabbing front link (9) is hinged to the mounting base (4). The inner surface of the clamping part (71) is provided with a groove (711), a tooth plate (10) is provided in the groove (711), the front side surface of the tooth plate (10) is provided with teeth (101), the rear side surface of the tooth plate (10) is provided with a spherical protrusion (102), a boss (712) corresponding to the spherical protrusion (102) is provided in the groove (711), and a spring (11) is provided below the tooth plate (10).

3. The drilling floor manipulator according to claim 1, characterized in that: The mechanical arm body comprises a base (22), a large arm (23), a large arm connecting rod (24), a small arm (25), a small arm connecting rod (26), a triangular connecting plate (27) and a turntable reducer (28), wherein the turntable reducer (28) is arranged on the sliding trolley, and the base (22) is arranged on the turntable reducer (28), the lower ends of the large arm (23) and the large arm connecting rod (24) are hinged on the base (22), the upper ends of the large arm (23) and the large arm connecting rod (24) are hinged on the triangular connecting plate (27), and the small arm (25) One end of the small arm connecting rod (26) is hinged on the triangular connecting plate (27), and the other end of the small arm (25) and the small arm connecting rod (26) is hinged on the hand claw fixed middle seat (1). A first actuator (29) is provided between the base (22) and the upper arm (23), and a second actuator (30) is provided between the upper arm (23) and the small arm (25). Hydraulic cylinders (31) are respectively provided on both sides of the upper arm (23), and the fixed end of the hydraulic cylinder (31) is hinged on the base (22), and the extended end of the hydraulic cylinder (31) is hinged on the upper arm (23).

4. The drilling floor manipulator according to claim 1, characterized in that: The sliding trolley includes a trolley body (32) and two leg assemblies, the two leg assemblies are rotatably arranged on both sides of the bottom of the trolley body (32), the leg assembly includes a leg frame (33), a slewing bearing (34) and four roller frames (35), the leg frame (33) is connected to the trolley body (32) through the slewing bearing (34), the four roller frames (35) are symmetrically and evenly arranged at both ends of the leg frame (33), two rollers (36) are arranged in parallel on the roller frame (35), and straightening wheels (37) are arranged at both ends of the leg frame (33), and the direction of the straightening wheels (37) is perpendicular to the direction of the rollers (36), and a fourth driver (38) is provided on one of the leg assemblies, and a driving gear (39) is fixed to the output shaft of the fourth driver (38).

5. The drilling floor manipulator according to claim 4, characterized in that: The sliding guide rail comprises a first straight guide rail (40), an arcuate guide rail (41) and a second straight guide rail (42) connected in sequence, wherein a rack (43) is provided on the first straight guide rail (40), the arcuate guide rail (41) and the second straight guide rail (42), and the rack (43) is engaged with a driving gear (39).

6. The drilling floor manipulator according to claim 5, characterized in that: The invention also includes a control box (44), which is arranged on one side of the trolley body (32), and the first driver (6), the second driver (13), the third driver (18), the fourth driver (38), the electric push rod (17), the first actuator (29), the second actuator (30) and the turntable reducer (28) are electrically connected to the control box (44) respectively.

7. The drilling floor manipulator according to claim 6, characterized in that: The first driver (6), the second driver (13), the third driver (18), the fourth driver (38) and the fifth driver are servo motors with speed reducers, and the first actuator (29) and the second actuator (30) are servo electric push rods.

Images