Drill floor manipulator translation guide rail

Abstract

The invention provides a drill floor manipulator translation guide rail. The drill floor manipulator translation guide rail comprises an avoiding section rail assembly, a translation rail assembly and a working section rail assembly, the avoiding section rail assembly and the working section rail assembly are arranged in an L shape; the translation track assembly is arranged at the joint of the avoiding section track assembly and the working section track assembly; a driving structure is arranged on the translation rail assembly; in a working state, the travelling trolley can travel along the working section rail assembly; in the avoiding state, the running trolley walks to the translation rail assembly, and the translation rail bears the running trolley to walk to the end, away from the working section rail assembly, of the avoiding section rail assembly under driving of the driving structure. Through the movement of the translation rail, the working state conversion of the drill floor surface manipulator between the working section and the avoiding section is realized, and the problems of large occupied space of a traditional arc section turning guide rail, large drill floor transformation work amount, easiness in clamping stagnation of a guide roller and the like are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of wellhead devices for oil drilling platforms, and particularly to a translational guide rail for a drill floor manipulator. Background Art

[0002] The drill floor manipulator is an important device for realizing the automatic handling of pipe strings during drilling and workover operations. It mainly cooperates with the second floor manipulator in a pushing and supporting manner to realize the reciprocating movement of the pipe string between the wellhead and the stand rack or the mouse hole, and the positioning and placement of the drill pipe in the stand rack. Usually, the drill floor manipulator occupies the middle aisle space of the stand rack during operation. During the non-operation period of the drill floor manipulator, it is necessary to move the drill floor manipulator to the avoidance section to vacate the middle aisle space of the stand rack, so as to facilitate the power catwalk to transport the pipe string to the drill floor. At present, the guide rail with an avoidance section adopts an arc transition structure at the turning point. This structure occupies a large space, brings a large amount of workload and cost to the transformation of the drill floor, and is prone to jamming during the process of the running trolley entering and exiting the arc section guide rail, which greatly affects the operation efficiency. Summary of the Invention

[0003] The purpose of the present invention is to provide a translational guide rail for a drill floor manipulator, so as to solve the technical problems that the existing "L"-shaped arc track is prone to cause jamming of the running trolley and damage to the guiding rollers at the turning point; at the same time, the avoidance section of the track occupies a small space, reducing the workload and cost of transforming the drill floor.

[0004] To solve the above technical problems, a translational guide rail for a drill floor manipulator provided by the present invention includes an avoidance section track assembly, a translational track assembly, and a working section track assembly;

[0005] The avoidance section track assembly and the working section track assembly are arranged in an "L" shape;

[0006] The translational track assembly is arranged at the intersection of the avoidance section track assembly and the working section track assembly; a driving structure is provided on the translational track assembly;

[0007] In the working state, the running trolley can travel along the working section track assembly;

[0008] In the avoidance state, the running trolley travels onto the translational track assembly, and under the drive of the driving structure, the translational track assembly carries the running trolley to travel to one end of the avoidance section track assembly away from the working section track assembly.

[0009] Further, the working section track assembly includes a positioning pin seat, a working track, and a working section track backing plate. The two working tracks are installed in parallel on the working track backing plate, and the two positioning pin seats are installed in parallel and staggered on the working track near the translational track assembly;

[0010] The translation track assembly includes a translation track, a positioning pin, and a translation track seat. The two translation tracks are installed in parallel on the translation track seat. The two positioning pins are installed in parallel and staggered on one end of the translation track close to the working track. The translation track and the working track are movably connected by inserting the positioning pin into the positioning pin seat, and the insertion end of the positioning pin is set away from the direction of the avoidance section track assembly.

[0011] Preferably, the positioning pin is a tapered pin, which has better positioning accuracy than a cylindrical pin and better self-locking property, ensuring that the running trolley can move smoothly from the translation track assembly to the working section track assembly.

[0012] Furthermore, the working section track assembly further includes a drive rack mounting seat C and a drive rack C, and the drive rack C is mounted on the inner side of the working track through the drive rack mounting seat C;

[0013] The translation track assembly also includes a driving rack B and a driving rack mounting seat B. The driving rack B is installed on the translation track through the driving rack mounting seat B, and the driving rack B is matched, docked and connected with the driving rack C.

[0014] Furthermore, the avoidance track assembly includes an avoidance track, an avoidance track pad and a driving rack A, the two avoidance tracks are symmetrically mounted on the avoidance track pad, and the driving rack A is mounted on the avoidance track through a rack mounting seat A;

[0015] The driving structure comprises a hydraulic motor mounting seat, a translation travel gear, a hydraulic motor, and a hydraulic motor positioning and mounting groove, wherein the hydraulic motor positioning and mounting groove is mounted in the translation track, the hydraulic motor mounting seat is mounted on the hydraulic motor positioning and mounting groove, and the hydraulic motor is mounted on the hydraulic motor mounting seat and is drivingly connected to the translation travel gear;

[0016] The translation travel gear is meshed and connected with the driving rack A.

[0017] Furthermore, the translation track assembly also includes a composite roller group, two of the composite roller groups are installed on the bottom of the translation track seat through a mounting frame, and the composite roller groups are slidably connected to the avoidance track.

[0018] Furthermore, the avoidance track assembly 1 also includes an avoidance track mounting plate, an avoidance track mounting gasket and an avoidance track positioning mounting plate.

[0019] The avoidance track mounting plate is connected to the avoidance track pad, and is used to support the entire avoidance section track assembly 1;

[0020] The avoidance track installation gasket is clamped between the avoidance track pad and the avoidance track installation plate, and is used to adjust the height to keep the avoidance section track assembly 1 level;

[0021] The avoidance track positioning and mounting plate is connected to the avoidance track backing plate by bolts and is used for positioning and mounting the avoidance section track assembly 1 on the drill floor.

[0022] Furthermore, the avoidance section track assembly includes a drag chain guiding groove which is installed on the avoidance track backing plate;

[0023] The translation track assembly includes a drag chain and a drag chain mounting bracket. One end of the drag chain is installed at the bottom of the translation track seat through the drag chain mounting bracket, and the other end of the drag chain is fixed in the drag chain guiding groove. When the translation track assembly travels on the avoidance section track assembly, the drag chain expands or contracts as the translation track assembly moves.

[0024] Furthermore, the avoidance section track assembly includes a proximity switch induction bracket A, a wedge-shaped limit block, and a hydraulic control valve assembly. The proximity switch induction bracket A is installed at both ends of the avoidance track, the wedge-shaped limit block is installed at both ends of the avoidance track, and the hydraulic control valve assembly is connected to the avoidance track backing plate and is used to control the hydraulic motor.

[0025] Furthermore, the working section track assembly includes a working track mounting gasket, a working track mounting plate, and a working track positioning and mounting plate. The working track mounting plate is connected to the working track backing plate and is used to support the entire working section track assembly; the working track mounting gasket is clamped between the working track backing plate and the working track mounting plate and is used to adjust the height to keep the working track section assembly level; the working track positioning and mounting plate is connected to the working track backing plate by bolts and is used for positioning and mounting the working section track assembly on the drill floor.

[0026] Furthermore, it further includes a proximity switch induction bracket B, a proximity switch, and a travel limit block. Travel limit blocks are installed at the ends of the working track and the translation track that face away from each other; a proximity switch induction bracket B is installed inside the translation track near the end close to the working track; a proximity switch induction bracket B is installed at the end of the working track that faces away from the translation track; and a proximity switch is installed on the translation track.

[0027] Adopting the above technical solution, the present invention has the following beneficial effects:

[0028] (1) The present invention replaces the traditional "L"-shaped arc track with the method of using the translation track to partially transport the manipulator on the drill floor, replaces the walking mode of the manipulator with a turning transition arc with a translation walking mode, and avoids the disadvantage of the large space occupied by the traditional arc guide rail at the arc transition position. Moreover, due to the holding brake effect of the hydraulic motor, the translation track part can also be used as part of the working track, greatly saving the length of the working track and the transformation space of the drill floor.

[0029] (2) There is a problem with the traditional arc track that the guiding roller jams and gets stuck with the guiding track at the arc turning point, resulting in the fragmentation of the guiding roller, seriously affecting the operation efficiency, and having a relatively high maintenance cost. The translation track method adopted in the present invention directly avoids the turning problem of the running trolley, ensuring that the manipulator on the drill floor is not negatively affected by turning during the operation process.

[0030] (3) The present invention adopts a positioning method of positioning taper pins and taper pin seats. The positioning taper pins are welded below the translation track, and the taper pin seats are welded on-site with it below the working track. The taper pin positioning has the advantages of convenient installation, high positioning accuracy, and self-locking when subjected to lateral forces. With the same slope of the inclined sections at both ends of the track, accurate docking of the two ends of the track can be achieved, avoiding the situation of jamming when the running trolley passes through the docking position.

[0031] (4) The present invention realizes the transformation of the working state of the manipulator on the drill floor between the working section and the avoidance section through the movement of the translation track, solves the problems of the traditional arc-section turning guide rail occupying a large space, a large amount of drill floor reconstruction work, and easy jamming of the guiding roller, etc., has a high degree of integration, provides a reliable, safe, and efficient control process, greatly improves the working efficiency of the drilling operation, and has good economic benefits. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the specific embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0033] Figure 1 It is a schematic diagram of the farthest working application scenario in the working state of the present invention;

[0034] Figure 2 It is a schematic diagram of the farthest avoidance application scenario in the avoidance state of the present invention;

[0035] Figure 3 It is a schematic diagram of the structure of the avoidance section track assembly of the present invention;

[0036] Figure 4 It is a schematic diagram of the structure of the translation track assembly of the present invention;

[0037] Figure 5 It is a schematic diagram of the structure of the translation track assembly of the present invention;

[0038] Figure 6 It is a schematic diagram of the structure of the working section track assembly of the present invention.

[0039] Reference Signs:

[0040] Avoidance section track assembly 1; avoidance track 101; avoidance track soleplate 102; drag chain guide groove 103; drive rack A 104; proximity switch induction bracket A 105; wedge-shaped limit block 106; avoidance track mounting plate 107; avoidance track mounting gasket 108; avoidance track positioning mounting plate 109; hydraulic control valve assembly 110; translation track assembly 2; hydraulic motor mounting seat 201; translation track 202; translation traveling gear 203; drive rack B 204; proximity switch induction bracket B 205; positioning pin 206; composite roller set 207; drag chain 208; proximity switch 209; traveling limit block 210; drag chain mounting bracket 211; hydraulic motor 212; hydraulic motor positioning mounting groove 213; drive rack mounting seat B 214; translation track seat 215; working section track assembly 3; positioning pin seat 301; drive rack mounting seat C 302; working track 303; drive rack C 304; working section track soleplate 305; working track mounting gasket 306; working track mounting plate 307; working track positioning mounting plate 308; running trolley 4. Detailed implementation mode

[0041] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0042] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus cannot be understood as a limitation to the present invention. In addition, the terms "first", "second", "third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0043] In the description of the present invention, it should be noted that unless otherwise clearly specified and limited, the terms "installation", "connection", "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication of two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0044] The present invention will be further explained and illustrated below in conjunction with specific embodiments.

[0045] As Figure 1-2 shown, a translation guide rail for a manipulator on a drilling floor provided in this embodiment includes an avoidance section track assembly 1, a translation track assembly 2, and a working section track assembly 3;

[0046] The avoidance section track assembly 1 and the working section track assembly 3 are arranged in an L shape;

[0047] The translation track assembly 2 is arranged at the junction of the avoidance section track assembly 1 and the working section track assembly 3; a driving structure is provided on the translation track assembly 2;

[0048] In the working state, the running trolley 4 can travel along the working section track assembly 3;

[0049] In the avoidance state, the running trolley 4 travels onto the translation track assembly 2, and under the drive of the driving structure, the translation track assembly 2 carries the running trolley 4 and travels to one end of the avoidance section track assembly 1 away from the working section track assembly 3.

[0050] In the above technical solution, referring to Figure 1 , in the working state, the translation track assembly 2 is completely attached to the working section track assembly 3, and the running trolley can travel to the farthest point of the working section track assembly 3 to work.

[0051] Referring to Figure 2 , in the avoidance state, the running trolley 4 travels onto the translation track assembly 2, and under the drive of the driving structure, the translation track assembly 2 carries the running trolley 4 and travels to the end of the avoidance section track assembly 1 to avoid catwalk operations.

[0052] As a preference of the above technical solution, as Figure 6 shown, in this embodiment, the working section track assembly 3 includes a positioning pin seat 301, a working track 303, and a working section track backing plate 305. The two working tracks 303 are installed in parallel on the working track backing plate 305. One end of the two working tracks 303 close to the translation track 202 is a bevel structure. The two positioning pin seats 301 are installed in parallel and staggered on one end of the working track 303 close to the translation track assembly 2;

[0053] In the above technical solution, the working track 303 is welded to the working section track backing plate 305 for the running trolley 4 to travel in the working state.

[0054] As Figure 4 and 5As shown, the translation track assembly 2 includes a translation track 202, a positioning pin 206 and a translation track seat 215. The two translation tracks 202 are installed in parallel on the translation track seat 215, and the ends of the two translation tracks 202 close to the working track 303 are consistent with the inclined structure of the working track 303, so that the working track and the translation track form a complete track; in addition, the two positioning pins 206 are installed in parallel and staggered on the ends of the translation track 202 close to the working track 303, and the translation track 202 and the working track 303 are movably connected by inserting the positioning pin 206 into the positioning pin seat 301, and the plug-in end of the positioning pin 206 is set away from the direction of the avoidance section track assembly 1.

[0055] In the above technical scheme, the translation rail 202 is welded on the translation rail seat 215, the hydraulic motor positioning mounting groove 213 is welded on the two inner sides of the translation rail 202, the hydraulic motor mounting seat 201 is inserted into the hydraulic motor positioning mounting groove 213 and fixed with bolts, the driving rack B204 is connected to the driving rack mounting seat B214 welded on the translation rail 202 by bolts, and the proximity switch sensing bracket B205 is connected to the translation rail 202 by bolts.

[0056] Preferably, the locating pin 206 is welded under the translation rail 202 and is welded on-site with the locating pin seat 301 under the working section rail assembly 3 for positioning the translation rail assembly 2 and the working section rail assembly 3; in addition, the locating pin 206 adopts a tapered pin, which has better positioning accuracy than a cylindrical pin and has better self-locking properties, ensuring that the running trolley 4 can move smoothly from the translation rail assembly 2 to the working section rail assembly 3.

[0057] In addition, if Figure 1 , 4 -6, the end of the translation track 202 that is in contact with the working track 303 is an inclined surface. In addition, in the present invention, the translation track 202, the working track 303 and the avoidance track 101 can adopt U-shaped tracks with the same structure.

[0058] Based on the above embodiments, Figure 6 As shown, the working section track assembly 3 further includes a driving rack mounting seat C302 and a driving rack C304, and the driving rack C304 is mounted on the inner side of the working track 303 through the driving rack mounting seat C302;

[0059] The translation track assembly 2 also includes a driving rack B204 and a driving rack mounting seat B214. The driving rack B204 is mounted on the translation track 202 through the driving rack mounting seat B214, and the driving rack B204 is matched, docked and connected with the driving rack C304.

[0060] like Figure 3As shown, in this embodiment, the avoidance section track assembly 1 includes an avoidance track 101, an avoidance track backing plate 102, and a driving rack A 104. The two avoidance tracks 101 are symmetrically installed on the avoidance track backing plate 102, and the driving rack A 104 is installed on the avoidance track 101 through a rack mounting seat A;

[0061] As Figure 4-5 shown, the driving structure includes a hydraulic motor mounting seat 201, a translation traveling gear 203, a hydraulic motor 212, and a hydraulic motor positioning mounting groove 213. The hydraulic motor positioning mounting groove 213 is installed in the translation track 202, the hydraulic motor mounting seat 201 is installed on the hydraulic motor positioning mounting groove 213, and the hydraulic motor 212 is installed on the hydraulic motor mounting seat 201 and is drivingly connected to the translation traveling gear 203;

[0062] The translation traveling gear 203 is meshed and connected with the driving rack A 104.

[0063] In the above embodiment, the hydraulic motor 212 serves as the power source of the translation track assembly 2 and is fixed to the hydraulic motor mounting seat 201 by bolts, driving the translation traveling gear 203 to mesh with the driving rack A 104 on the avoidance section track assembly 1, and driving the composite roller group 207 welded on the translation track seat 215 to travel on the translation track 202.

[0064] As Figure 4 and 5 shown, the translation track assembly 2 further includes a composite roller group 207. The two composite roller groups 207 are installed at the bottom of the translation track seat 215 through a mounting frame, and the composite roller group 207 is slidably connected to the avoidance track 101.

[0065] As Figure 3 shown, in this embodiment, the avoidance section track assembly 1 further includes an avoidance track mounting plate 107, an avoidance track mounting gasket 108, and an avoidance track positioning mounting plate 109. The avoidance track mounting plate 107 is connected to the avoidance track backing plate 102 and is used to support the entire avoidance section track assembly 1;

[0066] The avoidance track mounting gasket 108 is clamped between the avoidance track backing plate 102 and the avoidance track mounting plate 107 and is used to adjust the height to keep the avoidance section track assembly 1 horizontal;

[0067] The avoidance track positioning mounting plate 109 is connected to the avoidance track backing plate 102 by bolts and is used for the positioning and installation of the avoidance section track assembly 1 on the drill floor. Specifically, as Figure 3 described, the avoidance track positioning mounting plate 109 is installed at both ends of the avoidance track backing plate 102; the avoidance track mounting plate 107 is installed at non - end positions on both sides of the avoidance track backing plate 102.

[0068] As Figure 1-5 shown, in this embodiment, the avoidance section track assembly 1 includes a drag chain guide groove 103, and the drag chain guide groove 103 is installed on the avoidance track backing plate 102;

[0069] The translation track assembly 2 includes a drag chain 208 and a drag chain mounting bracket 211. One end of the drag chain 208 is installed at the bottom of the translation track seat 215 through the drag chain mounting bracket 211, and the other end of the drag chain 208 is fixed in the drag chain guide groove 103. When the translation track assembly 2 travels on the avoidance section track assembly 1, the drag chain 208 unfolds or contracts as the translation track assembly 2 moves.

[0070] In the above embodiment, the drag chain guide groove 103 is connected to the avoidance track backing plate 102 by bolts, and is used for the drag chain 208 to move in the groove when the translation track assembly 2 travels on the avoidance section track assembly 1.

[0071] The drag chain mounting bracket 211 is connected to the translation track seat 215 by bolts, and is used to fix one end of the drag chain 208. The other end of the drag chain 208 is fixed to the drag chain guide groove by bolts.

[0072] The translation track is movable. One end of the drag chain is connected to the translation track through the drag chain mounting bracket, and this end moves with the translation track. The other end is fixed to the drag chain guide groove. The drag chain unfolds and contracts as the traveling trolley moves, which is a reciprocating motion. When the traveling trolley moves to the head of the avoidance track, one end of the drag chain is fixed in the drag chain groove, and the other end moves to the head of the avoidance track with the translation track, and the whole drag chain is in an unfolded state.

[0073] As Figure 3 shown, in this embodiment, the avoidance section track assembly 1 includes a proximity switch induction bracket A105, a wedge-shaped limit block 106, and a hydraulic control valve assembly 110. The proximity switch induction bracket A105 is installed at both ends of the avoidance track 101, the wedge-shaped limit block 106 is installed at both ends of the avoidance track 101, and the hydraulic control valve assembly 110 is connected to the avoidance track backing plate 102 by bolts and is used to control the hydraulic motor. Among them, the front and rear proximity switch induction brackets A105 are connected to the avoidance track 101 by bolts, and the wedge-shaped limit block 106 is connected to the avoidance track 101 by bolts.

[0074] As Figure 6As shown, the working section track assembly 3 includes a working track mounting gasket 306, a working track mounting plate 307, and a working track positioning and mounting plate 308. The working track mounting plate 307 is connected to the working track backing plate 305 and is used to support the entire working section track assembly 3. The working track mounting gasket 306 is sandwiched between the working track backing plate 305 and the working track mounting plate 307 and is used to adjust the height to keep the working track section assembly 3 level. The working track positioning and mounting plate 308 is connected to the working track backing plate 305 by bolts and is used for the positioning and mounting of the working section track assembly 3 on the drill floor. Specifically, as Figure 6 shown, the working track positioning and mounting plate 308 is installed at both ends of the working track backing plate 305; the working track mounting plate 307 is installed at positions other than both ends of the working track backing plate 305.

[0075] As Figure 4-6 shown, it further includes a proximity switch induction bracket B205, a proximity switch 209, and a travel limit block 210. Travel limit blocks 210 are installed at both ends of the working track 303 and the translation track 202 that face away from each other. A proximity switch induction bracket B205 is installed inside one end of the translation track 202 close to the working track 303. A proximity switch induction bracket B205 is installed at one end of the working track 303 that faces away from the translation track 202. The travel limit block 210 is used as the mechanical limit of the translation track section and is connected to the translation track 202 by bolts. The proximity switch induction bracket B205 and the travel limit block 210 are respectively used as the electronic limit and mechanical limit of the working track assembly and are connected to the working track 303 by bolts.

[0076] A proximity switch 209 is installed on the translation track 202. The proximity switch 209 is connected to the translation track 202 by bolts and is used as the electronic limit for the translation track assembly 2 to travel on the avoidance section track assembly 1. The hydraulic pipeline and the cable routing of the proximity switch 209 are realized through the drag chain 208.

[0077] The present invention is used for the flexible movement of the manipulator on the drill floor, satisfying the use of the manipulator on the drill floor under working conditions and avoidance conditions, which can effectively improve the operation efficiency and has good economic benefits. The specific principle is as follows:

[0078] First is the positioning and installation of the tracks. Locate the positioning points of the working section and the avoidance section on the drill floor, and weld the working track positioning and mounting plate 308 and the avoidance track positioning and mounting plate 109 to the drill floor and the floating platform respectively. After the three track assemblies are installed respectively, move the translation track assembly 2 to the tail end of the working section track assembly 3 to make the bevel joints and the drive racks of the two tracks fully fit. Subsequently, weld the positioning pin seat 301 according to the position of the positioning pin 206 to complete the matching of the two.

[0079] Under the working conditions of the manipulator on the drill floor, by adjusting the hydraulic control valve to aggregate into 110 to start the hydraulic motor 212. Driven by the hydraulic motor 212, the translation walking gear 203 meshes with the driving rack A104, driving the composite roller set 207 to walk towards the working section. When it walks to the tail of the avoidance section track, the proximity switch 209 on the translation track assembly 2 encounters the electronic limit proximity switch induction bracket A105, and the translation track assembly 2 stops moving. The positioning pin 206 and the positioning pin seat 301 complete the cooperation, and the hydraulic motor 212 brakes. The entire translation track assembly 2 is fixed at the tail of the avoidance track section assembly 1, and the running trolley 4 can move smoothly from the translation track assembly 2 to the working section track assembly 3. And during the operation of the manipulator on the drill floor, the hydraulic motor 212 is always in the braking state. At this time, the translation track assembly 2 is fixed and does not move. Therefore, under this working condition, the translation track part can be used as a part of the working track for work, which can effectively utilize the length of the translation track, further reduce the transformation space of the drill floor, and save a certain amount of economic cost.

[0080] Under the avoidance working conditions of the manipulator on the drill floor, the running trolley 4 moves from the working section track assembly 3 towards the translation track assembly 2. After the proximity switch on the running trolley 4 encounters the electronic limit proximity switch induction bracket B205, it stops moving, the motor brakes, and the running trolley 4 is fixed on the translation track assembly 2. Subsequently, adjust the hydraulic control valve to aggregate into 110, the hydraulic motor 212 releases the brake, drives the translation walking gear 203 to mesh with the driving rack A104, and drives the composite roller set 207 to walk towards the head of the avoidance section track assembly 1. When it walks to the head of the avoidance section track assembly 1, the proximity switch 209 on the translation track assembly 2 encounters the electronic limit proximity switch induction bracket A105, and the translation track assembly 2 stops moving, completing the avoidance.

[0081] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A translation guide rail for a manipulator on a drilling floor, characterized in that It includes an avoidance section track assembly (1), a translation track assembly (2), and a working section track assembly (3); The avoidance section track assembly (1) and the working section track assembly (3) are arranged in an L shape; The translation track assembly (2) is arranged at the junction of the avoidance section track assembly (1) and the working section track assembly (3); a driving structure is provided on the translation track assembly (2); In the working state, the running trolley (4) can travel along the working section track assembly (3); In the avoidance state, the running trolley (4) travels onto the translation track assembly (2), and under the drive of the driving structure, the translation track assembly (2) carries the running trolley (4) and travels to one end of the avoidance section track assembly (1) far from the working section track assembly (3).

2. A translation guide rail for a drill floor manipulator according to claim 1, wherein The working section track assembly (3) includes a positioning pin seat (301), a working track (303), and a working section track backing plate (305). The two working tracks (303) are installed in parallel on the working track backing plate (305), and the two positioning pin seats (301) are installed on one end of the working track (303) close to the translation track assembly (2); The translation track assembly (2) includes a translation track (202), a positioning pin (206), and a translation track seat (215). The two translation tracks (202) are installed in parallel on the translation track seat (215), and the two positioning pins (206) are installed on one end of the translation track (202) close to the working track (303). The translation track (202) is movably connected to the working track (303) by inserting the positioning pin (206) into the positioning pin seat (301), and the insertion end of the positioning pin (206) is arranged in a direction away from the avoidance section track assembly (1).

3. A translation guide rail for a drill floor manipulator according to claim 2, wherein The working section track assembly (3) further includes a driving rack mounting seat C (302) and a driving rack C (304). The driving rack C (304) is installed on the inner side of the working track (303) through the driving rack mounting seat C (302); The translation track assembly (2) further includes a driving rack B (204) and a driving rack mounting seat B (214). The driving rack B (204) is installed on the translation track (202) through the driving rack mounting seat B (214), and the driving rack B (204) is in butt-joint and communication with the driving rack C (304).

4. A translation guide rail for a drill floor manipulator according to claim 3, wherein The avoidance section track assembly (1) includes an avoidance track (101), an avoidance track backing plate (102), and a driving rack A (104). The two avoidance tracks (101) are symmetrically installed on the avoidance track backing plate (102), and the driving rack A (104) is installed on the avoidance track (101) through a rack mounting seat A; The driving structure includes a hydraulic motor mounting seat (201), a translation walking gear (203), a hydraulic motor (212), and a hydraulic motor positioning mounting groove (213). The hydraulic motor positioning mounting groove (213) is installed in the translation track (202). The hydraulic motor mounting seat (201) is installed on the hydraulic motor positioning mounting groove (213). The hydraulic motor (212) is installed on the hydraulic motor mounting seat (201) and is drivingly connected to the translation walking gear (203). The translation walking gear (203) is meshingly connected with the driving rack A (104).

5. A translational guide rail for a manipulator on a drilling table according to claim 4, characterized in that, The translation track assembly (2) further includes a composite roller group (207). The two composite roller groups (207) are installed at the bottom of the translation track seat (215) through a mounting frame, and the composite roller group (207) is slidably connected to the avoidance track (101).

6. The translation guide rail of a drill floor manipulator according to claim 4, characterized in that The avoidance section track assembly (1) further includes an avoidance track mounting plate (107), an avoidance track mounting gasket (108), and an avoidance track positioning mounting plate (109). The avoidance track mounting plate (107) is connected to the avoidance track backing plate (102) and is used to support the entire avoidance section track assembly (1). The avoidance track mounting gasket (108) is clamped between the avoidance track backing plate (102) and the avoidance track mounting plate (107) and is used to adjust the height to keep the avoidance section track assembly (1) horizontal. The avoidance track positioning mounting plate (109) is connected to the avoidance track backing plate (102) by bolts and is used for the positioning and installation of the avoidance section track assembly (1) on the drill floor.

7. The translation guide rail of a drill floor manipulator according to claim 6, characterized in that The avoidance section track assembly (1) includes a drag chain guide groove (103), and the drag chain guide groove (103) is installed on the avoidance track backing plate (102). The translation track assembly (2) includes a drag chain (208) and a drag chain mounting bracket (211). One end of the drag chain (208) is installed at the bottom of the translation track seat (215) through the drag chain mounting bracket (211). The other end of the drag chain (208) is fixed in the drag chain guide groove (103). When the translation track assembly (2) walks on the avoidance section track assembly (1), the drag chain (208) unfolds or contracts as the translation track assembly (2) moves.

8. The translation guide rail of a drill floor manipulator according to claim 6, characterized in that The avoidance section track assembly (1) includes a proximity switch induction bracket A (105), a wedge-shaped limit block (106), and a hydraulic control valve assembly (110). The proximity switch induction bracket A (105) is installed at both ends of the avoidance track (101). The wedge-shaped limit block (106) is installed at both ends of the avoidance track (101). The hydraulic control valve assembly (110) is connected to the avoidance track backing plate (102) and is used to control the hydraulic motor.

9. A translation guide for a manipulator translation guide on a drilling table according to claim 7, characterized in that, The working section track assembly (3) includes a working track mounting gasket (306), a working track mounting plate (307), and a working track positioning and mounting plate (308). The working track mounting plate (307) is connected to the working track backing plate (305) and is used to support the entire working section track assembly (3). The working track mounting gasket (306) is sandwiched between the working track backing plate (305) and the working track mounting plate (307) and is used to adjust the height to keep the working track section assembly (3) level. The working track positioning and mounting plate (308) is connected to the working track backing plate (305) by bolts and is used for the positioning and mounting of the working section track assembly (3) on the drill floor.

10. A translational guide rail for a manipulator on a drilling table according to claim 9, characterized in that, It further includes a proximity switch induction bracket B (205), a proximity switch (209), and a travel limit block (210). Travel limit blocks (210) are installed at both ends of the working track (303) and the translation track (202) that are away from each other. A proximity switch induction bracket B (205) is installed inside one end of the translation track (202) close to the working track (303). A proximity switch induction bracket B (205) is installed at one end of the working track (303) away from the translation track (202). A proximity switch (209) is installed on the translation track (202).

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