Manipulator structure for material transfer and material transfer method

Abstract

The invention discloses a manipulator structure for material transfer and a material transfer method. The manipulator structure comprises an angle adjusting turntable mechanism, a turnover mechanism, a telescopic mechanism and a manipulator device, the turnover mechanism is installed on the angle adjusting rotary disc mechanism, the telescopic mechanism is installed on the turnover mechanism, and the mechanical arm device is installed on the telescopic mechanism. The angle adjusting turntable mechanism comprises a shell structure, a mounting seat is fixed in the shell structure, the mounting seat is provided with a cylindrical fixed seat, a turbine structure is arranged on the fixed seat, the turbine structure is arranged on the fixed seat in a sleeving manner, and a ball is arranged between the turbine structure and the fixed seat; a driving motor is further installed on the shell structure, a worm structure is arranged on an output shaft of the driving motor, the worm structure is meshed with the turbine structure, and the worm structure is located in the shell structure. The material grabbing device is simple in structure, ingenious in design, capable of grabbing materials, rotating, stretching, overturning and the like, small in occupied space, smooth in action, high in efficiency and the like.

Description

Technical Field

[0001] The invention relates to a material transfer method of a manipulator structure used for material transfer, belonging to the technical field of mechanical structures. Background Art

[0002] Drill pipe is a steel pipe with threads at the rear end, which is used to connect the surface equipment of the drilling rig and the drilling and grinding equipment or bottom hole device at the bottom of the well. The purpose of the drill pipe is to transport drilling mud to the drill bit and to raise, lower or rotate the bottom hole device together with the drill bit. The drill pipe must be able to withstand huge internal and external pressure, twisting, bending and vibration. In the process of oil and gas extraction and refining, the drill pipe can be used many times. Drill pipe is divided into three categories: square drill pipe, drill pipe and heavy drill pipe. The connection order is square drill pipe (1 piece) + drill pipe (n pieces, determined by the well depth) + heavy drill pipe (n pieces, determined by the design of the drilling tool combination).

[0003] The raw materials of drill pipes need to be transported during the production process. However, the long length of drill pipes and the limitation of production space have an impact on the transportation of drill pipes. Summary of the invention

[0004] The object of the present invention is to provide a manipulator structure for material transfer and a material transfer method, which has a simple structure and ingenious design, can grasp materials and rotate, retract, flip, etc., and has the advantages of small space occupation, smooth movement and high efficiency.

[0005] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0006] A manipulator structure for material transfer comprises an angle adjustment turntable mechanism, a flipping mechanism, a telescopic mechanism and a manipulator device; the flipping mechanism is mounted on the angle adjustment turntable mechanism, the telescopic mechanism is mounted on the flipping mechanism, and the manipulator device is mounted on the telescopic mechanism; the angle adjustment turntable mechanism comprises an outer shell structure, a mounting seat is fixed inside the outer shell structure, the mounting seat has a cylindrical fixed seat, a turbine structure is arranged on the fixed seat, the turbine structure is sleeved on the fixed seat, and a ball is arranged between the turbine structure and the fixed seat; a driving motor is also mounted on the outer shell structure, a worm structure is arranged on the output shaft of the driving motor, the worm structure is meshed with the turbine structure, and the worm structure is located inside the outer shell structure.

[0007] In the aforementioned manipulator structure for material transfer, the worm is arranged horizontally and is located below the turbine. The bottom of the outer shell has a flange, and the flange has a fixing hole. The outer shell is fixed to the external structure through bolts and fixing holes; the outer shell structure has a mounting plate, and the mounting plate and the mounting seat are fitted together, and the mounting seat is fixed to the mounting plate.

[0008] In the aforementioned manipulator structure for material transfer, the angle adjustment turntable mechanism also includes a cantilever, one end of the cantilever is fixed on the turbine, and the flipping mechanism is fixed at the other end of the cantilever; the flipping mechanism includes a flipping motor and a connecting rod structure, the flipping motor is installed at one end of the cantilever, and the connecting rod structure is installed on the output shaft of the flipping motor; one end of the connecting rod structure is fixed to the output end of the flipping motor, the telescopic mechanism is installed at the other end of the connecting rod structure, and the manipulator device is installed at the telescopic end of the telescopic mechanism.

[0009] In the aforementioned manipulator structure for material transfer, the manipulator device includes a manipulator arm, a manipulator mechanism and a telescopic cylinder; one end of the manipulator arm is fixed to the telescopic end of the telescopic mechanism, the manipulator mechanism is hinged to the other end of the manipulator arm, a fixed lug is provided on the manipulator arm, one end of the telescopic cylinder is hinged to the fixed lug, and the other end of the telescopic cylinder is hinged to the manipulator mechanism.

[0010] A material transfer method, using the above-mentioned manipulator structure for material transfer, includes the following contents:

[0011] First, the height of the manipulator device is adjusted by controlling the telescopic device, and then the position of the manipulator device is adjusted by controlling the flipping mechanism, and then the material is clamped by the manipulator device;

[0012] After the manipulator device clamps the material, it drives the worm to rotate through the driving motor, and the worm drives the turbine to rotate. The turbine drives the connecting rod structure to rotate around the turbine through the cantilever. When the worm is set vertically, the manipulator arm is in a horizontal state; the turning motor is controlled to make the connecting rod structure drive the manipulator arm to rotate 180 degrees;

[0013] The worm is driven by a driving motor, and the worm drives the turbine to rotate. The turbine drives the connecting rod structure to rotate around the turbine through the cantilever until the robotic arm is in a vertical state. The robotic arm mechanism is then adjusted to a specified height through the telescopic mechanism, and the material is placed at a specified position through the robotic arm mechanism.

[0014] Compared with the prior art, the present invention has a simple structure and an ingenious design. It can grasp materials and perform rotation, extension, and flipping, etc. It has the advantages of small space occupation, smooth movement, and high efficiency. In the initial state and the final state, the cantilever, connecting rod structure, telescopic mechanism, and mechanical arm of the present structure are all located in the same plane, that is, the whole occupies a narrow space. When the material is rotating, due to the long connecting rod structure, the material occupies a high space during the rotation process, and will not interfere with other equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a structural schematic diagram of an embodiment of the present invention;

[0016] Figure 2 It is a schematic diagram of the internal structure of the shell structure;

[0017] Figure 3 yes Figure 1 Schematic diagram of the structure from another perspective.

[0018] Figure markings: 1-flip motor, 2-connecting rod structure, 3-telescopic mechanism, 4-fixed support ear, 5-mechanical arm, 6-telescopic cylinder, 7-mechanical arm mechanism, 8-housing structure, 9-drive motor, 10-cantilever, 11-turbine, 12-mounting seat, 13-worm, 14-mounting plate, 15-flip mechanism, 16-angle adjustment turntable mechanism, 17-mechanical arm device.

[0019] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments. DETAILED DESCRIPTION

[0020] Embodiment 1 of the present invention: A manipulator structure for material transfer, comprising an angle adjustment turntable mechanism 16, a flipping mechanism 15, a telescopic mechanism 3 and a manipulator device 17; the flipping mechanism 15 is mounted on the angle adjustment turntable mechanism 16, the telescopic mechanism 3 is mounted on the flipping mechanism 15, and the manipulator device 17 is mounted on the telescopic mechanism 3; the angle adjustment turntable mechanism 16 comprises an outer shell structure 8, a mounting seat 12 is fixed inside the outer shell structure 8, the mounting seat 12 has a cylindrical fixed seat, a turbine 11 structure is arranged on the fixed seat, the turbine 11 structure is sleeved on the fixed seat, and a ball is arranged between the turbine 11 structure and the fixed seat; a driving motor 9 is also mounted on the outer shell structure 8, a worm 13 structure is arranged on the output shaft of the driving motor 9, the worm 13 structure is meshed with the turbine 11 structure, and the worm 13 structure is located inside the outer shell structure 8. The worm 13 is arranged horizontally and is located below the turbine 11. The bottom of the outer shell structure 8 has a flange, and the flange has a fixing hole. The outer shell structure 8 is fixed to the external structure through bolts and the fixing hole; the outer shell structure 8 has a mounting plate 14, and the mounting plate 14 is in contact with the mounting seat 12, and the mounting seat 12 is fixed on the mounting plate 14.

[0021] Embodiment 2: A manipulator structure for material transfer, comprising an angle adjustment turntable mechanism 16, a flipping mechanism 15, a telescopic mechanism 3 and a manipulator device 17; the flipping mechanism 15 is mounted on the angle adjustment turntable mechanism 16, the telescopic mechanism 3 is mounted on the flipping mechanism 15, and the manipulator device 17 is mounted on the telescopic mechanism 3; the angle adjustment turntable mechanism 16 comprises an outer shell structure 8, a mounting seat 12 is fixed inside the outer shell structure 8, the mounting seat 12 has a cylindrical fixed seat, a turbine 11 structure is arranged on the fixed seat, the turbine 11 structure is sleeved on the fixed seat, and a ball is arranged between the turbine 11 structure and the fixed seat; a driving motor 9 is also mounted on the outer shell structure 8, a worm 13 structure is arranged on the output shaft of the driving motor 9, the worm 13 structure is meshed with the turbine 11 structure, and the worm 13 structure is located inside the outer shell structure 8. The worm 13 is arranged horizontally and is located below the turbine 11. The bottom of the outer shell structure 8 has a flange, and the flange has a fixing hole. The outer shell structure 8 is fixed to the external structure through bolts and the fixing hole; the outer shell structure 8 has a mounting plate 14, and the mounting plate 14 is in contact with the mounting seat 12, and the mounting seat 12 is fixed on the mounting plate 14.

[0022] The angle adjustment turntable mechanism 16 also includes a cantilever 10, one end of the cantilever 10 is fixed on the turbine 11, and the flipping mechanism 15 is fixed on the other end of the cantilever 10; the flipping mechanism 15 includes a flipping motor 1 and a connecting rod structure 2, the flipping motor 1 is installed at one end of the cantilever 10, and the connecting rod structure 2 is installed on the output shaft of the flipping motor 1; one end of the connecting rod structure 2 is fixed to the output end of the flipping motor 1, the telescopic mechanism 3 is installed at the other end of the connecting rod structure 2, and the manipulator device 17 is installed at the telescopic end of the telescopic mechanism 3.

[0023] Embodiment 3: A manipulator structure for material transfer, comprising an angle adjustment turntable mechanism 16, a flipping mechanism 15, a telescopic mechanism 3 and a manipulator device 17; the flipping mechanism 15 is mounted on the angle adjustment turntable mechanism 16, the telescopic mechanism 3 is mounted on the flipping mechanism 15, and the manipulator device 17 is mounted on the telescopic mechanism 3; the angle adjustment turntable mechanism 16 comprises an outer shell structure 8, a mounting seat 12 is fixed inside the outer shell structure 8, the mounting seat 12 has a cylindrical fixed seat, a turbine 11 structure is arranged on the fixed seat, the turbine 11 structure is sleeved on the fixed seat, and a ball is arranged between the turbine 11 structure and the fixed seat; a driving motor 9 is also mounted on the outer shell structure 8, a worm 13 structure is arranged on the output shaft of the driving motor 9, the worm 13 structure is meshed with the turbine 11 structure, and the worm 13 structure is located inside the outer shell structure 8. The worm 13 is arranged horizontally and is located below the turbine 11. The bottom of the outer shell structure 8 has a flange, and the flange has a fixing hole. The outer shell structure 8 is fixed to the external structure through bolts and the fixing hole; the outer shell structure 8 has a mounting plate 14, and the mounting plate 14 is in contact with the mounting seat 12, and the mounting seat 12 is fixed on the mounting plate 14.

[0024] The angle adjustment turntable mechanism 16 also includes a cantilever 10, one end of the cantilever 10 is fixed on the turbine 11, and the flipping mechanism 15 is fixed on the other end of the cantilever 10; the flipping mechanism 15 includes a flipping motor 1 and a connecting rod structure 2, the flipping motor 1 is installed at one end of the cantilever 10, and the connecting rod structure 2 is installed on the output shaft of the flipping motor 1; one end of the connecting rod structure 2 is fixed to the output end of the flipping motor 1, the telescopic mechanism 3 is installed at the other end of the connecting rod structure 2, and the manipulator device 17 is installed at the telescopic end of the telescopic mechanism 3.

[0025] The manipulator device 17 includes a manipulator arm 5, a manipulator mechanism 7 and a telescopic cylinder 6; one end of the manipulator arm 5 is fixed to the telescopic end of the telescopic mechanism 3, the manipulator mechanism 7 is hinged to the other end of the manipulator arm 5, the manipulator arm 5 is provided with a fixed lug 4, one end of the telescopic cylinder 6 is hinged to the fixed lug 4, and the other end of the telescopic cylinder 6 is hinged to the manipulator mechanism 7.

[0026] A material transfer method, using a manipulator structure for material transfer described in Example 3, the method includes the following contents:

[0027] First, the height of the manipulator device 17 is adjusted by controlling the telescopic device 3, and then the position of the manipulator device is adjusted by controlling the flip mechanism 15, and then the manipulator device 17 clamps the material;

[0028] After the manipulator device 17 clamps the material, the driving motor 9 drives the worm 13 to rotate, the worm 13 drives the turbine 11 to rotate, and the turbine 11 drives the connecting rod structure 2 to rotate around the turbine 11 through the cantilever 10. When the worm 11 is set vertically, the manipulator arm 5 is in a horizontal state; the turning motor 11 is controlled to make the connecting rod structure 2 drive the manipulator arm 5 to rotate 180 degrees;

[0029] The worm 13 is driven to rotate by the driving motor 9, and the worm 13 drives the turbine 11 to rotate. The turbine 11 drives the connecting rod structure 2 to rotate around the turbine 11 through the cantilever 10 until the robot arm 5 is in a vertical state, and then the robot mechanism 7 is adjusted to a specified height through the telescopic mechanism 3, and the material is placed at a specified position through the robot mechanism 7.

Claims

1. A manipulator structure for material transfer, characterized in that: The invention comprises an angle adjustment turntable mechanism (16), a turning mechanism (15), a telescopic mechanism (3) and a manipulator device (17); the turning mechanism (15) is mounted on the angle adjustment turntable mechanism (16), the telescopic mechanism (3) is mounted on the turning mechanism (15), and the manipulator device (17) is mounted on the telescopic mechanism (3); The angle adjustment turntable mechanism (16) comprises a shell structure (8), a mounting seat (12) is fixed inside the shell structure (8), the mounting seat (12) has a cylindrical fixed seat, a turbine (11) structure is arranged on the fixed seat, the turbine (11) structure is sleeved on the fixed seat, and a ball is arranged between the turbine (11) structure and the fixed seat; a driving motor (9) is also mounted on the shell structure (8), a worm (13) structure is arranged on the output shaft of the driving motor (9), the worm (13) structure is meshed with the turbine (11) structure, and the worm (13) structure is located inside the shell structure (8).

2. A manipulator structure for material transfer according to claim 1, characterized in that: The worm (13) is arranged horizontally, and the worm (13) is located below the turbine (11); the bottom of the outer shell structure (8) has a flange, and the flange has a fixing hole, and the outer shell structure (8) is fixed to the external structure through bolts and the fixing hole; the outer shell structure (8) has a mounting plate (14), and the mounting plate (14) and the mounting seat (12) are fitted together, and the mounting seat (12) is fixed on the mounting plate (14).

3. A manipulator structure for material transfer according to claim 2, characterized in that: The angle adjustment turntable mechanism (16) further comprises a cantilever (10), one end of the cantilever (10) is fixed on the turbine (11), and the flip mechanism (15) is fixed on the other end of the cantilever (10); The flipping mechanism (15) comprises a flipping motor (1) and a connecting rod structure (2), wherein the flipping motor (1) is mounted on one end of the cantilever (10), and the connecting rod structure (2) is mounted on the output shaft of the flipping motor (1); One end of the connecting rod structure (2) is fixed to the output end of the flip motor (1), the telescopic mechanism (3) is installed at the other end of the connecting rod structure (2), and the manipulator device (17) is installed at the telescopic end of the telescopic mechanism (3).

4. A manipulator structure for material transfer according to claim 3, characterized in that: The manipulator device (17) comprises a manipulator arm (5), a manipulator mechanism (7) and a telescopic cylinder (6); One end of the mechanical arm (5) is fixed to the telescopic end of the telescopic mechanism (3), the mechanical hand mechanism (7) is hinged to the other end of the mechanical arm (5), the mechanical arm (5) is provided with a fixed lug (4), one end of the telescopic cylinder (6) is hinged to the fixed lug (4), and the other end of the telescopic cylinder (6) is hinged to the mechanical hand mechanism (7).

5. A material transfer method, characterized in that: Using the manipulator structure for material transfer as described in claim 4, the method includes the following contents: First, the height of the manipulator device (17) is adjusted by controlling the telescopic device (3), and then the position of the manipulator device is adjusted by controlling the flipping mechanism (15), and then the manipulator device (17) clamps the material; After the manipulator device (17) clamps the material, the driving motor (9) drives the worm (13) to rotate, the worm (13) drives the turbine (11) to rotate, and the turbine (11) drives the connecting rod structure (2) to rotate around the turbine (11) through the cantilever (10). When the worm (11) is set vertically, the manipulator arm (5) is in a horizontal state; by controlling the flip motor (11), the connecting rod structure (2) drives the manipulator arm (5) to rotate 180 degrees; The worm (13) is driven to rotate by a driving motor (9), the worm (13) drives the turbine (11) to rotate, and the turbine (11) drives the connecting rod structure (2) to rotate around the turbine (11) through the cantilever (10) until the mechanical arm (5) is in a vertical state, and then the mechanical arm mechanism (7) is adjusted to a specified height through the telescopic mechanism (3), and the material is placed at a specified position through the mechanical arm mechanism (7).

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