Robotic control system for automated live-line working equipment

Abstract

This invention discloses a control system for an automated live-line working equipment manipulator, comprising: a manipulator body and control components; the manipulator body includes: a first ring-holding cylinder, a second ring-holding cylinder, a first clamping cylinder, and a second clamping cylinder; the first and second ring-holding cylinders are used to connect a pair of ring-holding manipulators, and the first and second clamping cylinders are used to connect a pair of clamping manipulators; the control components include: a first three-position four-way explosion-proof solenoid valve, a second two-position three-way explosion-proof solenoid valve, a second three-position four-way explosion-proof solenoid valve, a first balance valve, a first accumulator, a third three-position four-way explosion-proof solenoid valve, a second balance valve, and a second accumulator. This invention enables the automatic grabbing, conveying, and wellhead centering of the working tubing under unmanned operation conditions at the wellhead, solving the safety risks associated with traditional live-line working equipment requiring operators to be concentrated above the wellhead, effectively improving the equipment's operational efficiency and inherent safety.

Description

Technical Field

[0001] This invention relates to the field of automated control technology for oil and gas well tubing. More specifically, this invention relates to a robotic arm control system for automated live-line working equipment. Background Technology

[0002] Traditional live-line operations employ manual hydraulic control, requiring 4-5 operators concentrated on the work platform above the wellhead to raise and lower the tubing string under pressure. Simultaneously, a hydraulic winch and other auxiliary tools must be used to move the tubing string from the surface pipe rack to the work platform or vice versa. This ground operation requires multiple personnel working together, resulting in low tubing handling efficiency. Furthermore, because the tubing string operation area is concentrated in the wellhead risk zone, there are significant safety hazards, especially in high-pressure, ultra-high-pressure, and sulfur-containing well areas. An operational accident would severely impact safe production. Summary of the Invention

[0003] The purpose of this invention is to provide a novel robotic arm control system for automated live-line working equipment, which can automatically complete the grabbing, conveying, and wellhead centering operations of the working string under unmanned operation conditions at the wellhead working platform. This solves the safety risks and hazards of traditional live-line working equipment that require operators to be concentrated above the wellhead, effectively improving the operating efficiency and inherent safety of the equipment.

[0004] The technical solution adopted by the present invention to solve this technical problem is: a control system for a robotic arm used in automated live-line operation equipment, comprising: a robotic arm body and control components;

[0005] The robotic arm body includes: a ring-holding cylinder 1, a ring-holding cylinder 2, a clamping cylinder 1, and a clamping cylinder 2; the ring-holding cylinder 1 and the ring-holding cylinder 2 are used to connect a pair of ring-holding robotic arms, and the clamping cylinder 1 and the clamping cylinder 2 are used to connect a pair of clamping robotic arms.

[0006] The control components include: a three-position four-way explosion-proof solenoid valve one, a two-position three-way explosion-proof solenoid valve two, a three-position four-way explosion-proof solenoid valve two, a balance valve one, an accumulator one, a three-position four-way explosion-proof solenoid valve three, a balance valve two, and an accumulator two.

[0007] Among them, the ring holding cylinder one and the ring holding cylinder two are three-position cylinders, which are jointly controlled by a three-position four-way explosion-proof solenoid valve one and a two-position three-way explosion-proof solenoid valve.

[0008] The clamping cylinder is connected to the three-position four-way explosion-proof electromagnetic reversing valve, the balance valve, and the accumulator.

[0009] The clamping cylinder two is connected to the three-position four-way explosion-proof electromagnetic reversing valve three, the balance valve two, and the accumulator two.

[0010] Preferably, the three-position four-way explosion-proof solenoid directional valve and the two-position three-way explosion-proof solenoid valve are configured as follows:

[0011] When the two-position three-way explosion-proof solenoid valve is energized and the three-position four-way explosion-proof solenoid directional valve is not energized, the A ports of the ring-holding cylinders 1 and 2 are both in a pressurized state, and the B and C ports are both in a return state. The ring-holding cylinders 1 and 2 are fully extended, driving the ring-holding manipulator to clamp the oil pipe.

[0012] When the two-position three-way explosion-proof solenoid valve is energized and the left side of the three-position four-way explosion-proof solenoid directional valve is energized, the A and C ports of the ring holding cylinders are in a pressurized state, the B port is in a return state, and the piston rods of the ring holding cylinders are in the middle position, driving the ring holding manipulator to the ring holding oil pipe state.

[0013] When the two-position three-way explosion-proof solenoid valve is not energized and the right side of the three-position four-way explosion-proof solenoid directional valve is energized, the B port of the ring holding cylinder 1 and the ring holding cylinder 2 is in a pressurized state, the A port and the C port of the ring holding cylinder 1 and the ring holding cylinder 2 are in a return state, and the ring holding cylinder 1 and the ring holding cylinder 2 are fully retracted, causing the ring holding manipulator to be in a relaxed state.

[0014] Preferably, the robotic arm body further includes a tilting cylinder; the tilting cylinder is connected to a three-position four-way explosion-proof electromagnetic reversing valve four and a balance valve three;

[0015] The tilting cylinder is equipped with a displacement detection device 2 to determine whether it has reached the normal working position.

[0016] Preferably, the robotic arm body further includes a rotary motor, which is connected to a three-position four-way explosion-proof electromagnetic reversing valve five, a pressure reducing valve one, and a pressure reducing valve two.

[0017] Preferably, the robotic arm body also includes a lifting motor, which is connected to a three-position four-way explosion-proof electromagnetic reversing valve.

[0018] Preferably, it also includes: sensor one, pipe gripping detection device, and sensor three;

[0019] The first sensor is mounted on the automatic pipe rack gripping mechanism, the gripping detection device is mounted on the first ring-holding cylinder, and the third sensor is mounted on the second ring-holding cylinder.

[0020] The sensor 1, pipe gripping detection device, and sensor 3 are configured as follows: When the working pipe column is delivered to the designated position, sensor 1 energizes the two-position three-way explosion-proof solenoid valve. At this time, port A of the ring-holding cylinder 1 and ring-holding cylinder 2 is in a pressurized state, while ports B and C are in a return state. Ring-holding cylinder 1 and ring-holding cylinder 2 are fully extended, pushing the ring-holding manipulator to clamp the pipe column. After clamping, the pipe gripping detection device energizes the left side of the three-position four-way explosion-proof solenoid valve 2 and three-position four-way explosion-proof solenoid valve 3. The clamping cylinders extend, pushing the clamping manipulator to clamp the pipe column. After clamping, sensor 3 energizes the three-position four-way explosion-proof solenoid valve 4, and the lifting motor drives the gear and rack mechanism to move the manipulator body upward along the vertical column.

[0021] Preferably, it also includes: sensor two and a rangefinder;

[0022] The second sensor is mounted on a vertical column, and the rangefinder is fixed to the robot arm body.

[0023] The sensor 2 and the rangefinder are configured as follows: when the rangefinder detects that the robot arm body has moved up to a distance greater than the distance between the ring-holding cylinder and the end of the oil pipe, it controls the three-position four-way explosion-proof solenoid valve to be energized, driving the tilting cylinder to tilt, and the robot arm tilts from horizontal to vertical. At the same time, the robot arm continues to move up. When it reaches the predetermined height position, the sensor 2 de-energizes the three-position four-way explosion-proof solenoid valve, the lifting motor brakes, and the robot arm stops moving up.

[0024] Preferably, the robotic arm body consists of a ring-holding robotic arm and a clamping robotic arm as a group, and each group of ring-holding robotic arms and clamping robotic arms is connected to the robotic arm through a fixing member. When the flipping cylinder controls the robotic arm to flip from horizontal to vertical, the fixing member of the lower group of ring-holding robotic arms and clamping robotic arms is connected to the robotic arm through a spring, and a spring displacement sensor is provided at the spring.

[0025] The control settings are as follows: If the tubing at the wellhead is in the waiting position, the fifth position of the three-position four-way explosion-proof solenoid directional valve is energized, driving the rotary motor to rotate the manipulator body along the horizontal plane, rotating the tubing string to the wellhead; after the tubing reaches the wellhead, the left side of the first position of the three-position four-way explosion-proof solenoid directional valve is energized, the A and C ports of the ring-holding cylinders one and two are in the pressurized state, the B port is in the return state, the ring-holding cylinders one and two are in the middle position, and the ring-holding manipulator is in the ring-holding tubing string state. At this time, the right side of the three-position four-way explosion-proof solenoid directional valve is energized, and the second clamping cylinder retracts, causing the upper manipulator to open. Since the lower manipulator clamping part of the tubing has a spring, the entire tubing overcomes the spring force and falls to the wellhead tubing union. The spring is displaced, and the spring displacement sensor energizes the right side of the two-position four-way explosion-proof solenoid directional valve, causing the first clamping cylinder to retract, causing the lower clamping hand to open. The tubing falls and fits against the wellhead tubing, and the automatic hydraulic clamp performs the upper / lower coupling of the tubing.

[0026] The present invention has at least the following beneficial effects:

[0027] 1. Enables the automatic grabbing, conveying and centering of the working string under unmanned operation of the wellhead working platform, solving the safety risks and hazards of conventional pressurized working equipment requiring operators to be concentrated above the wellhead, and effectively improving the inherent safety of equipment operation;

[0028] 2. Significantly improve the transportation efficiency of the working pipe column, while reducing the labor intensity of on-site operators and enhancing the automation level of equipment operation.

[0029] Other advantages, objectives and features of the present invention will become apparent in part from the following description, and in part from those skilled in the art through study and practice of the invention. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the control system for the robotic arm used in the automated live-line operation equipment of this invention;

[0031] Figure 2 This is a structural diagram of the actuators and sensors of the robotic arm control system of this invention;

[0032] Figure 3 This is a side view of the robotic arm body of the present invention;

[0033] Figure 4 This is a schematic diagram of the fastener configuration of the present invention.

[0034] Explanation of reference numerals in the attached diagram: 1. Ring-holding cylinder one; 2. Ring-holding cylinder two; 3. Clamping cylinder one; 4. Clamping cylinder two; 5. Tilting cylinder; 6. Rotary motor; 7. Lifting motor; 8. Three-position four-way explosion-proof solenoid directional valve one; 9. Three-position four-way explosion-proof solenoid directional valve two; 10. Three-position four-way explosion-proof solenoid directional valve three; 11. Three-position four-way explosion-proof solenoid directional valve four; 12. Three-position four-way explosion-proof solenoid directional valve five; 13. Two-position three-way explosion-proof solenoid valve; 14. Accumulator one; 15. Accumulator two; 16. 17 Balance valve 1; 18 Balance valve 3; 19 Pressure reducing valve 1; 20 Pressure reducing valve 2; 21 Three-position four-way explosion-proof electromagnetic reversing valve 6; 22 Filter 1; 23 Filter 2; 24 Automatic pipe rack gripping mechanism; 25 Sensor 1; 26 Pipe gripping detection device; 27 Sensor 3; 28 Displacement detection device 2; 29 Spring displacement sensor; 30 Sensor 2; 31 Rangefinder; 32 Vertical column; 33 Fixture; 34 Robotic arm; 35 Spring. Detailed Implementation

[0035] The present invention will now be described in detail and completely with reference to the accompanying drawings. Those skilled in the art will be able to implement the present invention based on these descriptions. Before describing the present invention with reference to the accompanying drawings, it should be particularly noted that the technical solutions and features provided in various parts of the present invention, including the following description, can be combined with each other without conflict.

[0036] Furthermore, the embodiments of the present invention described below are generally only some, not all, of the embodiments of the present invention. Therefore, all other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort should fall within the scope of protection of the present invention.

[0037] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. The specific implementation process is as follows:

[0038] like Figures 1-4 As shown, the present invention provides a control system for a robotic arm used in automated live-line operation equipment, comprising: a robotic arm body and a control component;

[0039] The robotic arm body includes: a ring-holding cylinder 1, a ring-holding cylinder 2, a clamping cylinder 3, and a clamping cylinder 4; the robotic arm body has a pair of clamping robotic arms and a pair of ring-holding robotic arms. The clamping space of the ring-holding robotic arms is larger than that of the clamping robotic arms. The pair of ring-holding robotic arms are used to simultaneously grasp both ends of the tubing and tighten them upwards. After the ring-holding robotic arms tighten, the clamping robotic arms clamp the tubing. The ring-holding cylinder 1 and the ring-holding cylinder 2 are used to connect the pair of ring-holding robotic arms, and the clamping cylinder 1 and the clamping cylinder 2 are respectively used to connect the pair of clamping robotic arms.

[0040] The control components include: a three-position four-way explosion-proof solenoid valve 8, a two-position three-way explosion-proof solenoid valve 13, a three-position four-way explosion-proof solenoid valve 9, a balance valve 17, an accumulator 14, a three-position four-way explosion-proof solenoid valve 30, a balance valve 2 16, and an accumulator 2 15.

[0041] Among them, the ring holding cylinder 1 and the ring holding cylinder 2 are three-position cylinders, which are jointly controlled by the three-position four-way explosion-proof solenoid valve 8 and the two-position three-way explosion-proof solenoid valve 13.

[0042] The clamping cylinder 3 is connected to the three-position four-way explosion-proof solenoid valve 9, the balance valve 17, and the accumulator 14. The clamping cylinder 3 is controlled by the three-position four-way explosion-proof solenoid valve 9 to clamp and release the oil pipe. The balance valve 17 maintains the working state of the clamping cylinder 3. When the system power fails, the accumulator 14 provides emergency power to keep the clamping cylinder in the clamping state.

[0043] The clamping cylinder 4 is connected to a three-position four-way explosion-proof solenoid valve 10, a balance valve 16, and an accumulator 15. The clamping cylinder 4 is controlled by the three-position four-way explosion-proof solenoid valve 10 to clamp and release the oil pipe, and the balance valve 16 maintains the working state of the clamping cylinder 4. When the system power fails, the accumulator 15 provides emergency power to keep the clamping cylinder 4 in the clamping state.

[0044] This technical solution may also include the following technical details to better achieve the technical effect: the three-position four-way explosion-proof solenoid valve 8 and the two-position three-way explosion-proof solenoid valve 13 are configured as follows:

[0045] When the two-position three-way explosion-proof solenoid valve 13 is energized and the three-position four-way explosion-proof solenoid reversing valve 8 is not energized, the A ports of the ring holding cylinder 1 and the ring holding cylinder 2 are both in a pressurized state, and the B and C ports are both in a return state. The ring holding cylinder 1 and the ring holding cylinder 2 are fully extended, driving the ring holding manipulator to clamp the oil pipe.

[0046] When the two-position three-way explosion-proof solenoid valve 13 is energized and the left side of the three-position four-way explosion-proof solenoid reversing valve 8 is energized, the A and C ports of the ring holding cylinder 1 and the ring holding cylinder 2 are in a pressurized state, the B port is in a return state, the piston rods of the ring holding cylinder 1 and the ring holding cylinder 2 are in the middle position, driving the ring holding manipulator to the ring holding oil pipe state.

[0047] When the two-position three-way explosion-proof solenoid valve 13 is not energized and the right side of the three-position four-way explosion-proof solenoid directional valve 8 is energized, the B port of the ring-holding cylinder 1 and the ring-holding cylinder 2 is in a pressurized state, the A port and the C port of the ring-holding cylinder 1 and the ring-holding cylinder 2 are in a return state, the ring-holding cylinder 1 and the ring-holding cylinder 2 are fully retracted, driving the ring-holding manipulator to a relaxed state; the corresponding oil ports (A port, B port, C port) of the ring-holding cylinder 1 and the ring-holding cylinder 2 are connected respectively and are in a simultaneous working state.

[0048] This technical solution may also include the following technical details to better achieve the technical effect: the robotic arm body also includes a tilting cylinder; the tilting cylinder is connected to a three-position four-way explosion-proof solenoid valve 11 and a balance valve 18, and the tilting of the robotic arm body is controlled by the three-position four-way explosion-proof solenoid valve 11, so that the oil pipe switches back and forth from the horizontal direction to the vertical state when the robotic arm is transported up and down by the vertical column. The tilting cylinder is configured to switch the oil pipe back and forth from the horizontal direction to the vertical state when the robotic arm is transported up and down by the vertical column;

[0049] The tilting cylinder is equipped with a displacement detection device 28 to determine whether it has reached the normal working position. If there is an abnormality, the next operation is stopped and an inspection is carried out.

[0050] This technical solution may also include the following technical details to better achieve the technical effect: the manipulator body also includes a rotary motor 6, which is connected to a three-position four-way explosion-proof electromagnetic reversing valve 12, a pressure reducing valve 19, and a pressure reducing valve 20; the rotary motor 6 is controlled by the three-position four-way explosion-proof electromagnetic reversing valve 12, and the rotary motor 6 drives the worm gear mechanism to rotate the entire manipulator to or from the wellhead, and the rotational torque is adjusted by the pressure reducing valve 19 and the pressure reducing valve 20.

[0051] This technical solution may also include the following technical details to better achieve the technical effect: the robotic arm body also includes a lifting motor 7, the lifting motor 7 is connected to a three-position four-way explosion-proof electromagnetic reversing valve 6 21, and the lifting motor 7 drives a gear and rack reduction mechanism to realize the entire robotic arm is transported up and down through the vertical column.

[0052] The main oil inlet pipe of the robotic arm body and the main oil inlet pipe of the vertical column lifting mechanism (lifting motor, gear and rack reduction mechanism) are respectively equipped with filter 23 and filter 22 to filter out impurities.

[0053] This technical solution may also include the following technical details to better achieve the technical effect: it also includes: sensor 1 25, pipe gripping detection device 26, and sensor 3 27;

[0054] The sensor 25 is mounted on the automatic pipe rack gripping mechanism 24, the gripping detection device 26 is mounted on the ring holding cylinder 1, and the sensor 27 is mounted on the ring holding cylinder 2.

[0055] The sensor 25, pipe gripping detection device 26, and sensor 27 are configured as follows: When the working pipe column is delivered to the position, sensor 25 energizes the two-position three-way explosion-proof solenoid valve 13. At this time, the A port of the ring-holding cylinder 1 and the ring-holding cylinder 2 is in a pressurized state, and the B and C ports are in a return state. The ring-holding cylinder 1 and the ring-holding cylinder 2 are fully extended, pushing the ring-holding manipulator to clamp the pipe column. After clamping, the pipe gripping detection device 26 energizes the left side of the three-position four-way explosion-proof solenoid valve 9 and the three-position four-way explosion-proof solenoid valve 10. The clamping cylinder 3 and the clamping cylinder 4 are extended, pushing the clamping manipulator to clamp the pipe column. After clamping, sensor 27 energizes the three-position four-way explosion-proof solenoid valve 21. The lifting motor 7 drives the gear and rack mechanism to move the manipulator body upward along the vertical column.

[0056] This technical solution may also include the following technical details to better achieve the technical effect: it also includes: sensor 2 30 and rangefinder 31;

[0057] The second sensor 30 is mounted on a vertical column, and the rangefinder 31 is fixed to the robot arm body.

[0058] The sensor 2 30 and the rangefinder 31 are configured such that when the rangefinder 31 detects that the robot arm body has moved up to a distance greater than the distance between the ring holding cylinder and the end of the oil pipe, it controls the three-position four-way explosion-proof solenoid valve 4 11 to be energized, driving the tilting cylinder to tilt, and the robot arm tilts from horizontal to vertical. At the same time, the robot arm continues to move up. When it reaches the predetermined height position, the sensor 2 30 de-energizes the three-position four-way explosion-proof solenoid valve 4 21, the lifting motor 7 brakes, and the robot arm stops moving up.

[0059] This technical solution may also include the following technical details to better achieve the technical effect: the robotic arm body has one ring-holding robotic arm and one clamping robotic arm as a group, and each group of ring-holding robotic arms and clamping robotic arms is connected to the robotic arm 34 through a fixing member. When the flipping cylinder controls the robotic arm to flip from horizontal to vertical, the fixing member 33 of the lower group of ring-holding robotic arms and clamping robotic arms is connected to the robotic arm 34 through a spring. A spring displacement sensor 29 is provided at the spring 35.

[0060] The control settings are as follows: Based on the main system's judgment, if the wellhead tubing is in the waiting position, the five-position four-way explosion-proof solenoid directional valve is energized, driving the rotary motor to rotate the manipulator body along the horizontal plane, bringing the tubing string to the wellhead. After the tubing reaches the wellhead, the left side of the first three-position four-way explosion-proof solenoid directional valve is energized, the A and C ports of the ring-holding cylinders one and two are in a pressurized state, the B port is in a return-oil state, the ring-holding cylinders one and two are in the intermediate position, and the ring-holding manipulator is in the ring-holding tubing string position. At this point, energize the right side of the three-position four-way explosion-proof electromagnetic reversing valve, causing the clamping cylinder two to retract and open the upper robotic arm; since the lower robotic arm has a spring 35 at the part where it clamps the tubing, the entire tubing overcomes the spring force and falls to the tubing union at the wellhead, causing the spring to shift. The spring displacement sensor 29 energizes the right side of the two-position four-way explosion-proof electromagnetic reversing valve, causing the clamping cylinder one to retract and open the lower clamping hand. The tubing falls and fits against the tubing at the wellhead, and the automatic hydraulic clamp performs the upper / lower coupling of the tubing.

[0061] Although embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the specification and embodiments. They can be applied to various fields suitable for the present invention. For those skilled in the art, other modifications can be easily made. Therefore, without departing from the general concept defined by the claims and their equivalents, the present invention is not limited to the specific details and embodiments shown and described herein.

Claims

1. A robotic arm control system for automated live-line working equipment, characterized in that, include: Robotic arm body and control components; The robotic arm body includes: a ring-holding cylinder 1, a ring-holding cylinder 2, a clamping cylinder 1, and a clamping cylinder 2; the ring-holding cylinder 1 and the ring-holding cylinder 2 are used to connect a pair of ring-holding robotic arms, and the clamping cylinder 1 and the clamping cylinder 2 are used to connect a pair of clamping robotic arms. The control components include: a three-position four-way explosion-proof solenoid valve one, a two-position three-way explosion-proof solenoid valve two, a three-position four-way explosion-proof solenoid valve two, a balance valve one, an accumulator one, a three-position four-way explosion-proof solenoid valve three, a balance valve two, and an accumulator two. Among them, the ring holding cylinder one and the ring holding cylinder two are three-position cylinders, which are jointly controlled by a three-position four-way explosion-proof solenoid valve one and a two-position three-way explosion-proof solenoid valve. The clamping cylinder is connected to the three-position four-way explosion-proof electromagnetic reversing valve, the balance valve, and the accumulator. The clamping cylinder two is connected to the three-position four-way explosion-proof electromagnetic reversing valve three, the balance valve two, and the accumulator two. The robotic arm body also includes a tilting cylinder; the tilting cylinder is connected to a three-position four-way explosion-proof electromagnetic reversing valve four and a balance valve three. The tilting cylinder is equipped with a displacement detection device 2 to determine whether it has reached the normal working position; The robotic arm body also includes a lifting motor, which is connected to a three-position four-way explosion-proof electromagnetic reversing valve. It also includes: Sensor 1, pipe gripping detection device, and Sensor 3; The first sensor is mounted on the automatic pipe rack gripping mechanism, the gripping detection device is mounted on the first ring-holding cylinder, and the third sensor is mounted on the second ring-holding cylinder. The sensor 1, the pipe gripping detection device, and the sensor 3 are configured as follows: When the working pipe is delivered to the position, the sensor 1 energizes the two-position three-way explosion-proof solenoid valve. At this time, the A port of the ring-holding cylinder 1 and the ring-holding cylinder 2 is in a pressurized state, and the B and C ports are in a return state. The ring-holding cylinder 1 and the ring-holding cylinder 2 are fully extended, pushing the ring-holding manipulator to clamp the oil pipe. After clamping, the pipe gripping detection device energizes the left side of the three-position four-way explosion-proof solenoid valve 2 and the three-position four-way explosion-proof solenoid valve 3. The clamping cylinder 1 and the clamping cylinder 2 are extended, pushing the clamping manipulator to clamp the oil pipe. After clamping, the sensor 3 energizes the three-position four-way explosion-proof solenoid valve 6. The lifting motor drives the gear and rack mechanism to move the manipulator body upward along the vertical column. It also includes: Sensor 2 and rangefinder; The second sensor is mounted on a vertical column, and the rangefinder is fixed to the robot arm body. The sensor 2 and the rangefinder are configured as follows: when the rangefinder detects that the robot arm body has moved up to a distance greater than the distance between the ring-holding cylinder and the end of the oil pipe, it controls the four-position four-way explosion-proof solenoid valve to be energized, driving the tilting cylinder to tilt, and the robot arm tilts from horizontal to vertical. At the same time, the robot arm body continues to move up. When it reaches the predetermined height position, the sensor 2 de-energizes the six-position four-way explosion-proof solenoid valve, the lifting motor brakes, and the robot arm body stops moving up.

2. The robotic arm control system for automated live-line working equipment as described in claim 1, characterized in that, The three-position four-way explosion-proof solenoid directional valve and the two-position three-way explosion-proof solenoid valve are configured as follows: When the two-position three-way explosion-proof solenoid valve is energized and the three-position four-way explosion-proof solenoid directional valve is not energized, the A ports of the ring-holding cylinders 1 and 2 are both in a pressurized state, and the B and C ports are both in a return state. The ring-holding cylinders 1 and 2 are fully extended, driving the ring-holding manipulator to clamp the oil pipe. When the two-position three-way explosion-proof solenoid valve is energized and the left side of the three-position four-way explosion-proof solenoid directional valve is energized, the A and C ports of the ring holding cylinders are in a pressurized state, the B port is in a return state, and the piston rods of the ring holding cylinders are in the middle position, driving the ring holding manipulator to the ring holding oil pipe state. When the two-position three-way explosion-proof solenoid valve is not energized and the right side of the three-position four-way explosion-proof solenoid directional valve is energized, the B port of the ring holding cylinder 1 and the ring holding cylinder 2 is in a pressurized state, the A port and the C port of the ring holding cylinder 1 and the ring holding cylinder 2 are in a return state, and the ring holding cylinder 1 and the ring holding cylinder 2 are fully retracted, causing the ring holding manipulator to be in a relaxed state.

3. The robotic arm control system for automated live-line working equipment as described in claim 1, characterized in that, The robotic arm also includes a rotary motor, which is connected to a three-position four-way explosion-proof electromagnetic reversing valve five, a pressure reducing valve one, and a pressure reducing valve two.

4. The robotic arm control system for automated live-line working equipment as described in claim 1, characterized in that, The robotic arm body consists of a ring-holding robotic arm and a clamping robotic arm as a group. Each group of ring-holding robotic arms and clamping robotic arms is connected to the robotic arm through a fixing member. When the flipping cylinder controls the robotic arm to flip from horizontal to vertical, the fixing member of the lower group of ring-holding robotic arms and clamping robotic arms is connected to the robotic arm through a spring. A spring displacement sensor is provided at the spring. The control settings are as follows: If the tubing at the wellhead is in the waiting position, the fifth position of the three-position four-way explosion-proof solenoid directional valve is energized, driving the rotary motor to rotate the manipulator body along the horizontal plane, rotating the tubing to the wellhead; after the tubing reaches the wellhead, the left side of the first position of the three-position four-way explosion-proof solenoid directional valve is energized, the A and C ports of the ring-holding cylinders one and two are in the pressurized state, the B port is in the return state, the ring-holding cylinders one and two are in the middle position, and the ring-holding manipulator is in the ring-holding tubing state. At this time... When the right side of the three-position four-way explosion-proof solenoid directional valve is energized, the second clamping cylinder retracts, causing the upper clamping manipulator to open. Because the lower clamping manipulator has a spring at the part where it clamps the tubing, the entire tubing overcomes the spring force and falls to the tubing union at the wellhead. The spring is displaced, and the spring displacement sensor energizes the right side of the two-position four-way explosion-proof solenoid directional valve. The first clamping cylinder retracts, causing the lower clamping manipulator to open. The tubing falls and fits against the tubing at the wellhead, and the automatic hydraulic clamp performs the coupling / uncoupling of the tubing.

Images