A robotic arm on a two-tiered platform above a monkey platform

Abstract

This invention discloses a two-tiered platform manipulator above a drilling rig, belonging to the field of drilling rig technology. It includes a two-tiered platform base, on which a maintenance platform and a pipe string inlet / outlet are provided. Above the two-tiered platform base are a storage component and a transfer and cleaning component. The storage component enables independent movement of each storage rack and can store pipe strings in any empty position on any storage rack. The transfer and cleaning component can clean the surface of pipe strings that have just come up from the well, facilitating subsequent use and maintenance. The cooperation between the storage component and the transfer and cleaning component allows for the retrieval of any required pipe string without having to remove them one by one, greatly saving labor.

Description

Technical Field

[0001] This invention relates to the field of drilling rig technology, and in particular to a two-tiered platform manipulator above a drilling rig. Background Technology

[0002] The second-level robotic arm above the drilling rig, as an important component of automated equipment, has been used in various drilling teams. The entire automated second-level tubing system consists of: the main second-level robotic arm, auxiliary control finger beam locks, stop bars, and guardrail controls. The robotic arm is used to pick up and place drill strings, casing, and other tubing components. Existing second-level robotic arms require picking up and placing tubing components one by one, making it impossible to pick up and place specific tubing components.

[0003] Chinese patent application CN201821912181.5 discloses a two-tiered pipe-laying robot, including a powered two-tiered platform, a robotic arm, a mounting frame, a linear drive mechanism, grippers, a base, a rotary drive mechanism, a rotary table, and gripper seats. The base is installed below the powered two-tiered platform and connected to it via the linear drive mechanism. The rotary table is rotatably installed below the base and rotates relative to the base via the rotary drive mechanism. One end of the robotic arm is fixedly connected to the rotary table, and the other end is fixedly connected to the gripper seats. The grippers are horizontally mounted on the gripper seats. The mounting frame is located at the lower right of the powered two-tiered platform and connected via a pin connection device. Although this patent can complete the picking and placing of pipe components, it cannot store pipe components in any position, nor can it pick up pipe components placed in any position. Furthermore, it cannot clean the surface of the pipe components when storing them. Therefore, this invention provides a two-tiered robotic arm above a manipulator platform. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a two-tiered robotic arm above a monkey platform, overcoming the problems of not being able to store tubular components in any location, not being able to retrieve tubular components placed in any location, and not being able to clean the surface of the tubular components when storing them.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a two-tiered platform robot above a monkey platform, comprising a two-tiered platform base, an inspection platform and a pipe column inlet / outlet on the two-tiered platform base, and a storage component on the two-tiered platform base, the storage component comprising a storage rack one, a storage rack two, a storage rack three, a clamping support shaft, and a pressing frame, four shifting pressing frames are slidably installed on the two-tiered platform base, and each of the four shifting pressing frames is rotatably mounted with a storage transmission spline shaft, the pressing frame rotates to achieve individual pressing of any one of the storage transmission spline shafts, so that the storage rack one, storage rack two, storage rack three, and clamping support shaft can rotate independently.

[0006] Furthermore, a transfer cleaning assembly is provided above the second-level platform base. The transfer cleaning assembly includes two cleaning bases, and clamping brackets are symmetrically and rotatably mounted on the two cleaning bases. The clamping brackets rotate to clamp the tubular components, and a cleaning arc plate is rotatably mounted on the clamping brackets. The cleaning arc plate rotates to clean the surface of the tubular components.

[0007] Furthermore, the storage assembly also includes a storage base rotatably mounted on the second-layer platform, a storage rack two fixedly mounted on the storage base, and storage rack one and storage rack three rotatably mounted on the storage base. A storage transposition gear set one is rotatably mounted on the storage base. One end of the storage transposition gear set one is a spur gear, and the other end of the storage transposition gear set one is a ratchet. The storage rack one and the storage transposition gear set one constitute a gear pair.

[0008] Furthermore, a transposition ratchet ring is rotatably mounted on the second-level platform base. The outer ring of the storage transposition gear set and the transposition ratchet ring constitute a ratchet mechanism. An internal gear ring is fixedly mounted on the lower surface of the storage base. A transposition spur gear and a transposition spur gear are rotatably mounted on the second-level platform base. The clamping support shaft is rotatably mounted on the second-level platform base. The storage base and the clamping support shaft are rotatably engaged. The inner ring of the transposition spur gear and the transposition ratchet ring constitute a gear pair. The transposition spur gear and the internal gear ring constitute a gear pair.

[0009] Furthermore, the storage transmission spline shaft, the clamping support shaft, the shifting spur gear three, and the shifting spur gear one all form a spline sliding fit. Four pulleys and the storage transmission assembly one are rotatably mounted on the second-layer platform base. All four pulleys form a spline sliding fit with the storage transmission spline shaft. The four pulleys and the storage transmission assembly one are connected by a pressing conveyor belt.

[0010] Furthermore, a storage motor is fixedly installed on the second-level platform base. The output shaft of the storage motor and the first storage transmission assembly form a ratchet mechanism. A second storage transmission assembly is rotatably installed on the second-level platform base. The second storage transmission assembly and the pressing frame form a ratchet mechanism. A pulley is fixedly installed on the output shaft of the storage motor. The pulley on the output shaft of the storage motor and the second storage transmission assembly are connected by a forward and reverse conveyor belt.

[0011] Furthermore, the transfer cleaning assembly also includes a clamping and fixing plate, on which adjusting screw one and adjusting screw two are rotatably mounted. The left cleaning base and adjusting screw two form a helical pair, and the right cleaning base and adjusting screw one form a helical pair. A clamping drive spur gear is rotatably mounted on the cleaning base. The upper half of the clamping bracket is an arc-shaped rack, and the lower half of the clamping bracket is an arc plate. The clamping drive spur gear and the clamping bracket form a gear pair.

[0012] Furthermore, a clamping base is fixedly installed on the clamping support shaft, a displacement screw and a displacement optical shaft are rotatably installed on the clamping base, a clamping slide is slidably installed on the displacement optical shaft, and the clamping fixing plate is rotatably installed on the clamping slide.

[0013] Furthermore, a cleaning gear set is rotatably mounted on the clamping bracket. The cleaning gear set and the cleaning arc plate constitute a gear and rack pair. A transmission rod one is rotatably mounted on the clamping bracket. Both the cleaning gear set and the transmission rod one are provided with helical gears. The helical gears of the cleaning gear set and the helical gears of the transmission rod one constitute a gear pair. A limit spring plate is rotatably mounted on the transmission rod one. A transmission shaft two is provided between the transmission rod one and the limit spring plate.

[0014] Furthermore, a cleaning rack and a cutting rod are fixedly installed on the clamping plate. When the clamping bracket on this side cleans the tubular component, the limiting spring plate and the cleaning rack form a gear rack pair. When the clamping bracket on this side clamps the tubular component, the cutting rod supports the limiting spring plate, causing the cleaning rack and the limiting spring plate to disengage.

[0015] The advantages of this invention compared with the prior art are: (1) By setting up a storage component, this invention enables the independent movement of each storage rack, allowing the tubing to be stored in any empty position on any storage rack. (2) By setting up a transfer and cleaning component, this invention can clean the surface of the tubing that has just come up from the well, facilitating subsequent use and maintenance. (3) Through the cooperation of the storage component and the transfer and cleaning component, this invention can remove any required tubing without having to remove them one by one, greatly saving labor. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0017] Figure 2 This is a top view of the storage component of the present invention.

[0018] Figure 3 This is a schematic diagram of the structure of the storage component of the present invention.

[0019] Figure 4 for Figure 3 A magnified view of a portion of point A in the middle.

[0020] Figure 5 This is a schematic diagram of the structure of the lower side of the two-layer platform base of the present invention.

[0021] Figure 6 This is a schematic diagram of the structure of the storage component driver part of the present invention.

[0022] Figure 7 This is a schematic diagram of the structure of the transfer and cleaning component of the present invention.

[0023] Figure 8 for Figure 7 A magnified view of a portion of point B in the middle.

[0024] Figure 9 for Figure 7 A magnified view of a portion of point C in the middle.

[0025] Figure 10 This is a top view of the transfer and cleaning component of the present invention.

[0026] Figure 11 This is a schematic diagram of the transfer portion of the transfer and cleaning component of the present invention.

[0027] Figure 12 for Figure 11 A magnified view of a portion of point D in the middle.

[0028] Figure 13 for Figure 11 A magnified view of a portion of point E in the middle.

[0029] Figure 14 This is a side view of the cleaning portion of the transfer cleaning component of the present invention.

[0030] Figure 15 This is a schematic diagram of the pressing frame of the present invention.

[0031] Attached reference numerals: 101-Second-tier platform base; 102-Maintenance platform; 103-Pipe column inlet / outlet; 104-Clamping base; 105-Storage base; 106-Storage rack one; 107-Storage rack two; 108-Storage rack three; 109-Clamping support shaft; 110-Storage shifting gear set one; 111-Storage shifting gear set two; 112-Shifting ratchet ring one; 113-Internal gear ring; 114-Shifting ratchet ring two; 115-Shifting spur gear two; 116-Shifting spur gear three; 117-Shifting spur gear one; 118-Pressing frame; 119-Pressing block; 120-Shifting pressing frame; 121-Pressing spring; 122-Pressing conveyor belt; 123-Forward / reverse conveyor belt; 124-Storage motor; 125-Storage transmission set one; 126- Storage transmission group two; 127-Storage transmission spline shaft; 128-Clamping slide; 129-Shifting motor; 130-Shifting lead screw; 131-Shifting optical shaft; 132-Clamping fixing plate; 133-Steering motor; 134-Adjusting motor one; 135-Adjusting lead screw one; 136-Adjusting lead screw two; 137-Adjusting optical shaft; 138-Clamping motor; 139-Clamping bracket; 140-Cleaning arc plate; 141-Clamping drive spur gear; 142-Clamping conveyor belt; 143-Clamping reversing spur gear; 144-Cleaning spur rack; 145-Cleaning base; 146-Adjusting motor two; 147-Cut rod; 148-Cleaning gear set; 149-Transmission rod one; 150-Transmission shaft two; 151-Limiting spring plate; 152-Cleaning conveyor belt. Detailed Implementation

[0032] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0033] Example: Reference Figure 1 A two-tiered robotic arm above a monkey platform includes a two-tiered platform base 101. The two-tiered platform base 101 is equipped with a maintenance platform 102 and a pipe column inlet / outlet 103. The shifting and pressing frame 120 facilitates workers to inspect and replace the pipe columns, and also facilitates workers to inspect the transfer and cleaning mechanism. The pipe column inlet / outlet 103 is the pick-up and put-down position of the pipe column working area.

[0034] refer to Figures 2-4A storage assembly is provided on the second-level platform base 101. The storage assembly includes a storage rack 106, a storage rack 107, a storage rack 108, and a clamping support shaft 109. The storage assembly also includes a storage base 105 rotatably mounted on the second-level platform base 101. Storage rack 106 and storage rack 108 are both rotatably mounted on the storage base 105. Storage rack 107 is fixedly mounted on the storage base 105. Storage shift gear set 110 and storage shift gear set 211 are rotatably mounted on the storage base 105. One end of storage shift gear set 110 and storage shift gear set 211 is a spur gear, and the other end of storage shift gear set 110 and storage shift gear set 211 is a ratchet. Storage rack 106 and storage shift gear set 110 form a gear pair, and storage rack 108 and storage shift gear set 211 form a gear pair.

[0035] refer to Figures 3-4 On the second-level platform base 101, a transposition ratchet ring 112 and a transposition ratchet ring 114 are rotatably mounted. The outer rings of the storage transposition gear set 110 and the transposition ratchet ring 112 form a ratchet mechanism, and the outer rings of the storage transposition gear set 111 and the transposition ratchet ring 114 form a ratchet mechanism. An internal gear ring 113 is fixedly mounted on the lower surface of the storage base 105. When the internal gear ring 113 rotates clockwise, the storage base 105 rotates clockwise, which in turn causes the storage transposition gear set 110 and the storage transposition gear set 111 to revolve. Due to the ratchet mechanism formed by the storage transposition gear set 110 and the transposition ratchet ring 112, and the ratchet mechanism formed by the transposition ratchet ring 112 and the transposition spur gear 117, the storage transposition gear set 110 and the storage transposition gear set 111 do not rotate on their own axis when they revolve clockwise.

[0036] refer to Figures 3-6A second shifting spur gear 115, a third shifting spur gear 116, and a first shifting spur gear 117 are rotatably mounted on the second-tier platform base 101. A clamping support shaft 109 is rotatably mounted on the second-tier platform base 101. The storage base 105 and the clamping support shaft 109 are rotatably engaged. The second shifting spur gear 115 and the inner ring of the second shifting ratchet ring 114 form a gear pair. The first shifting spur gear 117 and the inner ring of the first shifting ratchet ring 112 form a gear pair. The third shifting spur gear 116 and the internal gear ring 113 form a gear pair. Four shifting pressing brackets 120 are slidably mounted on the second-tier platform base 101. Each of the four shifting pressing brackets 120 and the second-tier platform base 101 is provided with a... A pressing spring 121 is provided. Storage transmission spline shafts 127 are rotatably mounted on each of the four shifting pressing frames 120. The storage transmission spline shafts 127, clamping support shaft 109, shifting spur gear 2 115, shifting spur gear 3 116, and shifting spur gear 1 117 are all in spline sliding fit. Four pulleys and storage transmission assembly 125 are rotatably mounted on the second-level platform base 101. The four pulleys are all in spline sliding fit with the storage transmission spline shaft 127. The upper end of the storage transmission assembly 125 is an external ratchet, and the lower end of the storage transmission assembly 125 is a pulley. The four pulleys and the pulley of the storage transmission assembly 125 are connected by a pressing conveyor belt 122.

[0037] refer to Figure 5 , Figure 6 A storage motor 124 is fixedly mounted on the second-tier base 101. A pulley and an inner ratchet are fixedly mounted on the output shaft of the storage motor 124. The inner ratchet on the output shaft of the storage motor 124 and the outer ratchet of the storage transmission assembly 125 constitute a ratchet mechanism. A second storage transmission assembly 126 is rotatably mounted on the second-tier base 101. A pulley and an inner ratchet are fixedly mounted on the second storage transmission assembly 126. A pressing frame 118 is rotatably mounted on the second-tier base 101. An outer ratchet is fixedly mounted on the pressing frame 118. The inner ratchet of the storage transmission assembly 126 and the pressing frame 118 are fixedly mounted on the pressing frame 118. The outer ratchet of the press frame 118 constitutes ratchet mechanism two. The pulley on the output shaft of the storage motor 124 and the pulley of the storage transmission group two 126 are connected by a forward and reverse conveyor belt 123. The rotation directions of ratchet mechanism one and ratchet mechanism two are opposite, so that when the storage motor 124 drives the forward and reverse conveyor belt 123 to rotate clockwise, the storage transmission group one 125 rotates and the press frame 118 does not rotate. When the storage motor 124 drives the forward and reverse conveyor belt 123 to rotate counterclockwise, the press frame 118 rotates and the storage transmission group one 125 does not rotate.

[0038] refer to Figure 5 , Figure 6 , Figure 15Pressing blocks 119 are fixedly installed on the surfaces of the four support arms of the pressing frame 118. The included angle between adjacent support arms with the storage transmission group 2 126 as the center is 15 degrees. The distances of the four pressing blocks 119 to the storage transmission group 2 126 as the center correspond to the distances of the clamping support shaft 109, the shifting spur gear 2 115, the shifting spur gear 3 116, and the shifting spur gear 117 with the storage transmission group 2 126 as the center. This allows the pressing frame 118 to press the different shifting pressing frames 120 with the pressing blocks 119 each time it rotates 15 degrees, thereby causing the different storage transmission spline shafts 127 to move downwards, realizing the individual rotation of the clamping support shaft 109, the shifting spur gear 2 115, the shifting spur gear 3 116, and the shifting spur gear 117.

[0039] refer to Figure 1 , Figure 7 , Figure 8 A transfer cleaning assembly is provided above the second-level platform base 101. The transfer cleaning assembly includes two cleaning bases 145. Each of the two cleaning bases 145 is symmetrically and rotatably mounted with a clamping bracket 139. The upper half of the clamping bracket 139 is an arc-shaped rack, and the lower half of the clamping bracket 139 is an arc-shaped plate. The clamping bracket 139 rotates to clamp the pipe column. A cleaning arc-shaped plate 140 is rotatably mounted on the lower half of the arc-shaped plate of the clamping bracket 139. The inner side of the cleaning arc-shaped plate 140 is a brush, and the side of the cleaning arc-shaped plate 140 is provided with an arc-shaped rack. The cleaning arc-shaped plate 140 rotates to clean the surface of the pipe column.

[0040] refer to Figure 1 , Figure 7 , Figure 10 The transfer and cleaning assembly also includes a clamping and fixing plate 132, a clamping base 104 fixedly mounted on a clamping support shaft 109, a shifting screw 130 and a shifting optical shaft 131 rotatably mounted on the clamping base 104, a shifting motor 129 fixedly mounted on the clamping base 104, the output shaft of the shifting motor 129 and the shifting screw 130 fixedly connected, a clamping slide 128 slidably mounted on the shifting optical shaft 131, a clamping and fixing plate 132 rotatably mounted on the clamping slide 128, a steering motor 133 fixedly mounted on the clamping slide 128, and the output shaft of the steering motor 133 and the clamping and fixing plate 132 fixedly connected.

[0041] refer to Figures 7-9The clamping and fixing plate 132 is rotatably mounted with adjusting screw 135, adjusting screw 2 136, and adjusting optical shaft 137. Two cleaning bases 145 are slidably mounted on the adjusting optical shaft 137. The left cleaning base 145 and adjusting screw 2 136 form a helical pair and do not contact each other. The right cleaning base 145 and adjusting screw 1 135 form a helical pair and do not contact each other. The clamping and fixing plate 132 is fixedly mounted with adjusting motor 134 and adjusting motor 2 146. The output shaft of adjusting motor 134 is fixedly connected to adjusting screw 2 136, and the output shaft of adjusting motor 2 146 is fixedly connected to adjusting screw 135. The cleaning base 145 is rotatably mounted with clamping drive spur gear 141 and clamping bracket 139 forming a gear pair.

[0042] refer to Figures 7-9 A clamping reversing spur gear 143 is rotatably mounted on the cleaning base 145. Both the clamping reversing spur gear 143 and the clamping drive spur gear 141 above the cleaning base 145 are equipped with pulleys. A clamping conveyor belt 142 is provided between the pulley of the clamping drive spur gear 141 and the pulley of the clamping reversing spur gear 143 on the cleaning base 145. A clamping motor 138 is fixedly mounted on the cleaning base 145. The output shaft of the clamping motor 138 is fixedly connected to the clamping drive spur gear 141 above the cleaning base 145. The two clamping brackets 139 on the cleaning base 145 change their rotation direction through the clamping reversing spur gear 143, so that the rotation directions of the upper and lower clamping brackets 139 are opposite. When the clamping motor 138 is started, the two clamping brackets 139 rotate synchronously to clamp the tubular component.

[0043] refer to Figures 7-9 Two cleaning gear sets 148 are rotatably mounted on each of the two clamping brackets 139. The two cleaning gear sets 148 are connected by a cleaning conveyor belt 152. The cleaning gear sets 148 and the cleaning arc plate 140 form a gear and rack pair. A transmission rod 149 is rotatably mounted on the clamping bracket 139. Both the cleaning gear sets 148 and the transmission rod 149 are provided with helical gears. The helical gears of the cleaning gear sets 148 and the helical gears of the transmission rod 149 form a gear pair. The positions of the helical gears on the upper and lower transmission rods 149 are different. The helical gear on the clamping bracket 139 above the cleaning base 145 is located on the right side of the cleaning gear set 148, and the helical gear on the clamping bracket 139 below the cleaning base 145 is located on the left side of the cleaning gear set 148. A limit spring plate 151 is rotatably installed on the transmission rod 149, and a spur gear is fixedly installed on the limit spring plate 151. A transmission shaft 150 is provided between the transmission rod 149 and the limit spring plate 151, and the transmission rod 149 and the limit spring plate 151 are normally coaxial through the transmission shaft 150.

[0044] refer to Figure 7 , Figure 8 , Figures 11-13 The clamping plate 132 is fixedly installed with a cleaning rack 144 and a cutting rod 147. When the left clamping bracket 139 cleans the tubular component, and the right clamping bracket 139 clamps the tubular component, the left limiting spring plate 151 and the cleaning rack 144 form a gear rack pair. The transmission shaft 150 does not change, that is, the limiting spring plate 151 and the transmission rod 149 are always in a coaxial state. When the left clamping bracket 139 clamps the tubular component, and the right clamping bracket 139 cleans the tubular component, the left cutting rod 147 supports the limiting spring plate 151. The limiting spring plate 151 and the transmission rod 149 are no longer in a coaxial state, causing the cleaning rack 144 and the limiting spring plate 151 to disengage.

[0045] Working principle: When removing the tubing at the inlet / outlet position 103, the first adjustment motor 134 and the second adjustment motor 146 are started, causing the first adjustment screw 135 and the second adjustment screw 136 to rotate respectively. This moves both cleaning bases 145 to the rightmost end of the clamping plate 132. The clamping motor 138 is then started, causing the clamping drive spur gear 141 above the cleaning base 145 to rotate clockwise, which in turn drives the clamping bracket 139 above the cleaning base 145 to rotate counterclockwise. Simultaneously, the clamping conveyor belt... 142 causes the clamping reversing spur gear 143 to rotate clockwise, causing the clamping drive spur gear 141 below the cleaning base 145 to rotate counterclockwise, causing the clamping bracket 139 below the cleaning base 145 to rotate clockwise, causing the upper and lower clamping brackets 139 to move outward, and the cleaning arc plate 140 rotatably mounted on the clamping bracket 139 to be in the normal position. The normal position of the cleaning arc plate 140 is as shown in the figure. Then, the steering motor 133 is started to rotate the clamping fixing plate 132 to the vertical position.

[0046] Start the shift motor 129 to rotate the shift screw 130, causing the clamping slide 128 to move away from the shift motor 129, so that the shift motor 129 moves to a position where the axis of the clamping bracket 139 in the clamping state is on the same straight line as the axis of the inlet and outlet 103 of the tube column.

[0047] Then, start the clamping motor 138 on the bottom cleaning base 145, causing the clamping drive spur gear 141 to rotate counterclockwise. Similar to the step of opening the clamping bracket 139, the two clamping brackets 139 on the bottom cleaning base 145 clamp the column. When clamping, the rotation angle of the clamping bracket 139 is greater than the rotation angle of the clamping bracket 139 during cleaning. This causes the cutting rod 147 to support the limiting spring plate 151, compressing the transmission shaft 150. The transmission rod 149 and the limiting spring plate 151 are no longer on the same axis, causing the limiting spring plate 151 to disengage from the cleaning spur rack 144. As a result, the limiting spring plate 151 will not rotate when the cleaning base 145 moves.

[0048] After the clamping bracket 139 on the cleaning base 145 at the bottom of the clamping fixing plate 132 clamps the tube column, the adjustment motor 134 and the adjustment motor 146 are started to drive the two cleaning bases 145 to move upward a certain distance, clamping the tube column and moving it upward so that the lower end surface of the tube column is higher than the upper end surface of the storage rack 106.

[0049] Then restart the clamping motor 138 of the cleaning base 145 above the clamping fixing plate 132, so that the clamping motor 138 drives the clamping bracket 139 to approach the surface of the tubular component. At this time, the rotation angle of the clamping bracket 139 during cleaning is less than the rotation angle of the clamping bracket 139 below. The limiting spring plate 151 will not be supported by the cutting rod 147. The axis of the transmission rod 149 and the limiting spring plate 151 are still on the same straight line, so that the limiting spring plate 151 and the cleaning rack 144 form a gear rack pair. Start the adjustment motor 134 so that the clamping fixing plate 132... The cleaning base 145 above moves upward. At this time, the limiting spring plate 151 rotates under the action of the cleaning rack 144, causing the transmission rod 149 to rotate, which in turn causes the cleaning gear set 148 to rotate. The cleaning conveyor belt 152 causes both cleaning gear sets 148 to rotate, which in turn drives the cleaning arc plate 140 to rotate. When the cleaning base 145 moves upward, the two cleaning arc plates 140 rotate on the two clamping brackets 139 on the cleaning base 145. The brushes on the cleaning arc plates 140 clean the surface of the column.

[0050] When the cleaning base 145 moves above the tubular component, the clamping motor 138 of the cleaning base 145 is activated to clamp the tubular component with the clamping bracket 139. At this time, the clamping motor 138 on the lower cleaning base 145 is activated to release the clamping bracket 139 from clamping the tubular component. Then, the adjustment motor 146 is activated to move the lower cleaning base 145 to a position that fits against the upper cleaning base 145. Then, the clamping bracket 139 on the cleaning base 145 is activated to clean the tubular component, following the same steps as above.

[0051] After cleaning, when placing the item into a slot on storage rack 107, start the storage motor 124 to rotate the clockwise / reverse conveyor belt 123 counterclockwise, causing the pressing frame 118 to rotate counterclockwise. Storage transmission assembly 125 will not rotate, causing the pressing block 119 of the pressing frame 118 corresponding to the shifting spur gear 116 to move onto the shifting pressing frame 120 corresponding to the shifting spur gear 116, pressing down on the shifting pressing frame 120. The pressing spring 121 is compressed, causing the shifting spur gear 117 corresponding to the shifting spur gear 116 to be pressed down and engaged with the shifting spur gear 116. Then start the storage motor 124 again to rotate the clockwise / reverse conveyor belt 123. At this time, the pressing frame 118 will not rotate, and storage transmission assembly 125 will rotate clockwise, driving the pressing conveyor belt 122 to rotate. Since only the shifting spur gear 117 corresponding to shifting spur gear 3 116 moves downward, only shifting spur gear 3 116 rotates at this time. Shifting spur gear 3 116 rotates clockwise, which in turn drives the internal gear ring 113 to rotate clockwise, causing the storage base 105 to rotate clockwise, which in turn drives the storage rack 2 107 to rotate, moving the vacant position on the storage rack 2 107 to the position closest to the inlet and outlet 103 of the tube column. Due to the ratchet mechanism between storage shifting gear set 110 and shifting ratchet ring 112, and the ratchet mechanism between storage shifting gear set 2 111 and shifting ratchet ring 2 114, storage shifting gear set 110 and storage shifting gear set 2 111 will not rotate under the action of shifting ratchet ring 112 and shifting ratchet ring 2 114 when they are rotated clockwise by the storage base 105.

[0052] After moving the empty position of storage rack 2 107 to the position closest to the inlet / outlet 103 of the tube column, the same steps as above are repeated, causing the shifting ratchet ring 112 and shifting ratchet ring 2 114 to rotate clockwise, thereby driving the storage shifting gear set 110 and storage shifting gear set 2 111 to rotate clockwise, thereby causing the storage rack 106 and storage rack 3 108 to rotate counterclockwise, so that the storage rack 106 and storage rack 3 108 make way, so that only the required storage rack 2 107 is in the position near the inlet / outlet 103 of the tube column. Then, the tube column is placed into the empty position of storage rack 2 107 using the same steps as above.

[0053] Repeat the above steps to store the tubular components, or select any tubular component to retrieve.

[0054] During maintenance, the worker stands on the maintenance platform 102 and, through the same operation as described above, removes the required tubular components and rotates them to face the maintenance platform 102.

[0055] This invention is not limited to the specific embodiments described above. Any modifications made by those skilled in the art based on the above concept without creative effort are within the protection scope of this invention.

Claims

1. A two-tiered platform robot above a monkey platform, comprising a two-tiered platform base (101), wherein a maintenance platform (102) and a pipe column inlet / outlet (103) are provided on the two-tiered platform base (101), characterized in that: A storage assembly is provided on the second-level platform base (101). The storage assembly includes a storage rack one (106), a storage rack two (107), a storage rack three (108), a clamping support shaft (109), and a pressing frame (118). Four shift pressing frames (120) are slidably installed on the second-level platform base (101). A storage transmission spline shaft (127) is rotatably installed on each of the four shift pressing frames (120). The pressing frame (118) rotates to press any one of the storage transmission spline shafts (127) individually, so that the storage rack one (106), the storage rack two (107), the storage rack three (108), and the clamping support shaft (109) can rotate individually. A transfer cleaning assembly is provided above the second-level platform base (101). The transfer cleaning assembly includes two cleaning bases (145). Each of the two cleaning bases (145) is symmetrically and rotatably mounted with a clamping bracket (139). The clamping bracket (139) rotates to clamp the tubular component. A cleaning arc plate (140) is rotatably mounted on the clamping bracket (139). The cleaning arc plate (140) rotates to clean the surface of the tubular component. The storage assembly also includes a storage base (105) rotatably mounted on a second-layer platform base (101), a second storage rack (107) fixedly mounted on the storage base (105), a first storage rack (106) and a third storage rack (108) rotatably mounted on the storage base (105), and a first storage shift gear set (110) rotatably mounted on the storage base (105). One end of the first storage shift gear set (110) is a spur gear, and the other end of the first storage shift gear set (110) is a ratchet. The first storage rack (106) and the first storage shift gear set (110) constitute a gear pair. A transposition ratchet ring (112) is rotatably mounted on the second-layer platform base (101). The outer rings of the storage transposition gear set (110) and the transposition ratchet ring (112) constitute a ratchet mechanism. An internal gear ring (113) is fixedly mounted on the lower surface of the storage base (105). A transposition spur gear (116) and a transposition spur gear (117) are rotatably mounted on the second-layer platform base (101). The clamping support shaft (109) is rotatably mounted on the second-layer platform base (101). The storage base (105) and the clamping support shaft (109) are rotatably engaged. The inner rings of the transposition spur gear (117) and the transposition ratchet ring (112) constitute a gear pair. The transposition spur gear (116) and the internal gear ring (113) constitute a gear pair. The transfer cleaning assembly also includes a clamping fixing plate (132), on which an adjusting screw 1 (135) and an adjusting screw 2 (136) are rotatably mounted. The left cleaning base (145) and the adjusting screw 2 (136) form a helical pair, and the right cleaning base (145) and the adjusting screw 1 (135) form a helical pair. A clamping drive spur gear (141) is rotatably mounted on the cleaning base (145). The upper half of the clamping bracket (139) is an arc-shaped rack, and the lower half of the clamping bracket (139) is an arc-shaped plate. The clamping drive spur gear (141) and the clamping bracket (139) form a gear pair. A clamping base (104) is fixedly installed on the clamping support shaft (109). A displacement screw (130) and a displacement optical shaft (131) are rotatably installed on the clamping base (104). A clamping slide (128) is slidably installed on the displacement optical shaft (131). The clamping fixing plate (132) is rotatably installed on the clamping slide (128).

2. The robotic arm on a two-tiered platform above a monkey platform according to claim 1, characterized in that: The storage transmission spline shaft (127) and the clamping support shaft (109), the shift spur gear three (116), and the shift spur gear one (117) all form a spline sliding fit. Four pulleys and the storage transmission group one (125) are rotatably mounted on the second-layer platform base (101). The four pulleys all form a spline sliding fit with the storage transmission spline shaft (127). The four pulleys and the storage transmission group one (125) are connected by a pressing conveyor belt (122).

3. The robotic arm on a two-tiered platform above a monkey platform according to claim 2, characterized in that: A storage motor (124) is fixedly installed on the second-level platform base (101). The output shaft of the storage motor (124) and the storage transmission group one (125) constitute a ratchet mechanism one. A storage transmission group two (126) is rotatably installed on the second-level platform base (101). The storage transmission group two (126) and the pressing frame (118) constitute a ratchet mechanism two. A pulley is fixedly installed on the output shaft of the storage motor (124). The pulley on the output shaft of the storage motor (124) and the storage transmission group two (126) are connected by a forward and reverse conveyor belt (123).

4. The robotic arm on a two-tiered platform above a monkey platform according to claim 1, characterized in that: A cleaning gear set (148) is rotatably mounted on the clamping bracket (139). The cleaning gear set (148) and the cleaning arc plate (140) constitute a gear rack pair. A transmission rod (149) is rotatably mounted on the clamping bracket (139). Both the cleaning gear set (148) and the transmission rod (149) are provided with helical gears. The helical gears of the cleaning gear set (148) and the helical gears of the transmission rod (149) constitute a gear pair. A limit spring plate (151) is rotatably mounted on the transmission rod (149). A transmission shaft (150) is provided between the transmission rod (149) and the limit spring plate (151).

5. The robotic arm on a two-tiered platform above a monkey platform according to claim 4, characterized in that: The clamping plate (132) is fixedly installed with a cleaning rack (144) and a cutting rod (147). When the clamping bracket (139) cleans the tubular part, the limiting spring plate (151) and the cleaning rack (144) form a gear rack pair. When the clamping bracket (139) clamps the tubular part, the cutting rod (147) supports the limiting spring plate (151) to disengage the cleaning rack (144) and the limiting spring plate (151).

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