Vehicle-mounted intelligent manipulator for vertically carrying oil pipe and oil rod in oil field

Abstract

The invention discloses a vehicle-mounted intelligent manipulator for vertically carrying oil pipes and oil rods in an oil field, and relates to the technical field of manipulators, the vehicle-mounted intelligent manipulator comprises a guide rail mechanism, a sliding seat mechanism is arranged at the top end of the guide rail mechanism, a mechanical arm mechanism is arranged at the top end of the sliding seat mechanism, and a manipulator mechanism is arranged at the output end of the mechanical arm mechanism; the guide rail mechanism comprises a guide rail plate, guide rail pipes are arranged at the front end and the rear end of the guide rail plate, a mounting plate is fixedly mounted at the bottom end of the guide rail plate, high-precision stable movement in the vertical direction is achieved, the multi-joint mechanical arm is of a motor driving and reinforcing rod structure, flexibility and bearing capacity are both considered, and the grabbing requirements of oil pipes of different lengths can be met; the manipulator is provided with symmetrical protection plates and a double-gripper structure controlled by a driver, the gripping stability is ensured, the slipping risk is avoided, the overall design reduces operation deviation through limiting devices such as limiting rollers and anti-falling plates, friction loss is reduced through cooperation of rotating rollers and guide rail pipes, and therefore the service life of equipment is prolonged.

Description

Technical Field

[0001] The present invention relates to the technical field of manipulators, and in particular to a vehicle-mounted intelligent manipulator for transporting oil pipes and oil rods up and down in oil fields. Background Art

[0002] Robots are now widely used in various fields. They are usually used as handling robots to sort and carry goods. Usually, a handling robot includes a robotic arm and a gripper. The gripper is located at the end of the robotic arm and is used to clamp goods. The gripper is usually made of metal or equipped with a suction cup. This type of gripper is suitable for carrying goods of regular shapes, such as goods in cubic and rectangular outer packaging boxes. Most of the goods in the warehouse are of this type.

[0003] Well repair operations, as an essential industry in the oil industry, have always been recognized as one of the most "dirty, hard, tiring and dangerous" jobs in the oil industry. When performing well repair operations, it is necessary to lift and unload oil pipes or oil rods from the vehicle, and a manipulator is needed for lifting and unloading.

[0004] However, the existing vehicle-mounted intelligent manipulators for transporting oil pipes and oil rods up and down in oil fields have the following shortcomings:

[0005] 1) The transportation of oil pipes and oil rods in oil fields mostly relies on manpower or simple mechanical devices, which have problems such as low efficiency, high safety risks, and poor adaptability. Manual transportation is labor-intensive and prone to operational errors due to fatigue. There is also the risk of falls and injuries during high-altitude operations. Simple machinery lacks dedicated guide and limit structures, and is prone to shaking or deviation during transportation, causing collision and damage to the oil pipes.

[0006] 2) The robot lacks a fine-tuning mechanism, and the end position adjustment relies on external tools, which makes the operation cumbersome and lacks precision. The tool storage mostly adopts an open design, which is easily affected by environmental interference and causes parts to be lost or damaged. The cover fixing method is single and is easily loosened due to vibration during transportation, posing a safety hazard. In addition, the components need to be repeatedly calibrated during disassembly and assembly, and maintenance is time-consuming.

[0007] 3) Most manipulators use a rigid fixed structure and lack buffer protection, which can easily cause scratches or deformation on the surface of the oil pipe. The limit devices are mostly fixed, which makes it difficult to adapt to oil pipes of different diameters and requires repeated manual adjustment. The operation is cumbersome and time-consuming. The locking mechanism often relies on a threaded knob or pin, and additional tools are required for release, affecting the continuity of the operation.

[0008] Therefore, we proposed a vehicle-mounted intelligent manipulator for transporting oil pipes and oil rods up and down in oil fields in order to solve the problems raised above. Summary of the Invention

[0009] The purpose of the present invention is to provide a vehicle-mounted intelligent manipulator for the up and down transportation of oil pipes and oil rods in oil fields, which achieves better transportation efficiency and safety. The guide rail mechanism is combined with the gear rack drive system of the sliding seat to achieve high-precision and stable movement in the vertical direction. The multi-joint manipulator adopts a motor drive and a reinforcement rod structure, which takes into account flexibility and load-bearing capacity, and can adapt to the grabbing needs of oil pipes of different lengths. The manipulator is equipped with a symmetrical protective plate and a double gripper structure controlled by a driver to ensure the stability of the grabbing and avoid the risk of slipping. The overall design reduces the running deviation through limiting devices such as limiting rollers and anti-slip plates. The cooperation between the roller and the guide rail tube reduces friction loss, thereby extending the life of the equipment to solve the problems raised by the above background technology.

[0010] To achieve the above-mentioned object, the present invention provides the following technical solution: a vehicle-mounted intelligent manipulator for transporting oil pipes and oil rods up and down in an oil field, comprising a guide rail mechanism, a sliding seat mechanism being provided at the top of the guide rail mechanism, a manipulator mechanism being provided at the top of the sliding seat mechanism, and a manipulator mechanism being provided at the output end of the manipulator mechanism;

[0011] The guide rail mechanism includes a guide rail plate, the front and rear ends of the guide rail plate are provided with guide rail tubes, and the bottom end of the guide rail plate is fixedly installed with a mounting plate;

[0012] The sliding seat mechanism includes a sliding plate, the bottom end of the sliding plate is provided with an anti-slip plate and a roller, the bottom end of the sliding plate is provided with a limiting roller A and a limiting roller B, the top end of the sliding plate is provided with a motor A, and the output end of the motor A is provided with a gear A, a rack and a gear B;

[0013] The robotic arm mechanism includes a convex block, wherein a motor B, a rotating plate, and a fixed plate are arranged inside the convex block, a motor A and an arm body A are arranged on the top of the fixed plate, a motor B and an arm body B are arranged inside the arm body A, a motor C and an arm body C are arranged inside the arm body B, and a motor D is arranged inside the arm body C;

[0014] The manipulator mechanism includes a connecting rod B, a protective plate A and a protective plate B and a driver are provided on the left side of the connecting rod B, and a gripper A and a gripper B are provided on the left side of the protective plate B.

[0015] Preferably, the guide rail tube is fixed to the front and rear ends of the guide rail plate through a connecting plate, the mounting plate is fixed to the center of the bottom end of the guide rail plate, the anti-slip plates are symmetrically distributed at the front and rear ends of the bottom end of the sliding plate, and the roller is set in the middle of the anti-slip plate through a fixing rod A, and the roller is rotatably connected to the anti-slip plate.

[0016] Preferably, the limiting roller A is fixed to the bottom end of the sliding plate through the convex plate A, and the limiting roller A is rotatably connected to the guide rail tube. The limiting roller B is fixed to the bottom end of the sliding plate through the convex plate B, and the limiting roller B rotates on the back of the convex plate B through the fixing rod B. The limiting roller B is rotatably connected to the guide rail tube. A baffle is fixedly installed on the top of the sliding plate, and the gear A drives the gear B to rotate through the rack, and the rack is rotatably connected to the sliding plate.

[0017] Preferably, the motor B drives the rotating plate to rotate through the rotating groove, the rotating plate is rotationally connected to the protrusion, the motor A drives the arm body A to rotate through the rotating groove A and the rotating rod A, the arm body A is rotationally connected to the fixed plate, the bottom end of the arm body A is fixedly installed with a reinforcement rod A, the motor B drives the arm body B to rotate through the rotating groove B and the rotating rod B, the arm body B is rotationally connected to the arm body A, and the top end of the arm body B is fixedly installed with a reinforcement rod B.

[0018] Preferably, the motor C drives the arm body C to rotate through the rotating groove C and the rotating rod C. The arm body C is rotationally connected to the arm body B. A side plate is fixedly installed inside the arm body C. The output end of the motor D is provided with a connecting rod A, and the connecting rod A is rotationally connected to the side plate through the rotating groove D.

[0019] Preferably, the driver is fixed in the middle of the protective plate A and the protective plate B, and the protective plate A and the protective plate B are fixed together by a connecting rod C, and the connecting rod C is evenly distributed at the four middle corners of the protective plate A and the protective plate B. A side block A is fixedly installed on the left side of the protective plate B, a rotating rod A is provided in the middle of the side block A, and a gripper A is provided on the left side of the rotating rod A. A side block B is fixedly installed on the left side of the protective plate B, a rotating rod B is provided in the middle of the side block B, and a gripper B is provided on the left side of the rotating rod B.

[0020] Preferably, the output end of the motor D is provided with a mounting block, the top of the mounting block is fixedly installed with a fixing block, the inside of the fixed block is provided with a threaded rod, the top of the threaded rod is fixedly installed with a turning handle, the top of the turning handle is provided with a groove, the right side of the connecting rod B is fixedly installed with a mounting rod, the top of the sliding plate is fixedly installed with a storage box, the top of the storage box is provided with a cover plate, the top of the cover plate is fixedly installed with a lifting block, the side of the cover plate is fixedly installed with a card plate, and the inner wall of the card plate is fixedly installed with a card pad.

[0021] Preferably, the threaded rod is rotatably connected to the fixed block via a threaded groove, the threaded rod is rotatably connected to the mounting rod via a positioning groove, the turning handle is rotatably connected to the fixed block, the mounting rod is slidably connected to the mounting block via the mounting groove, the cover plate is rotatably connected to the storage box via a hinge, the card plates are symmetrically distributed at the left and right ends of the cover plate, a card slot is provided on the side of the storage box, and the card pad is slidably connected to the storage box via the card slot.

[0022] Preferably, a fixing groove A is provided on the surface of the guide rail plate, a limiting plate is provided on the side of the guide rail plate, a mounting cover is fixedly installed on the left side of the limiting plate, a clamping rod is provided inside the mounting cover, a soft pad is provided on the top of the clamping rod, a stop block is fixedly installed on the surface of the clamping rod, and a pull block is fixedly installed on the surface of the stop block.

[0023] Preferably, the mounting cover is slidably connected to the limit plate, the mounting cover is symmetrically distributed at the left and right ends of the guide rail plate, the card rod is slidably connected to the guide rail plate through the fixed groove A, the card rod is slidably connected to the mounting cover through the fixed groove B, the soft pad is evenly distributed on the top of the card rod, the soft pad is slidably connected to the guide rail plate through the fixed groove A, the soft pad is slidably connected to the mounting cover through the fixed groove B, and the block is slidably connected to the mounting cover.

[0024] Compared with the prior art, the present invention has the following beneficial effects:

[0025] 1. The present invention achieves better handling efficiency and safety through the sliding plate, anti-slip plate, fixed rod A, roller, convex plate A, limiting roller A, convex plate B, fixed rod B, limiting roller B, baffle, motor A, gear A, rack, gear B, convex block, rotating groove, motor B, rotating plate, fixed plate, rotating groove A, motor A, rotating rod A, arm body A, reinforcement rod A, rotating groove B, motor B, rotating rod B, arm body B, reinforcement rod B, rotating groove C, motor C, rotating rod C, arm body C, side plate, rotating groove D, motor D and connecting rod A. The guide rail mechanism is combined with the gear rack drive system of the sliding seat to achieve high-precision and stable movement in the vertical direction. The multi-joint robotic arm adopts a motor drive and a reinforced rod structure, which takes into account flexibility and load-bearing capacity and can adapt to the grasping needs of oil pipes of different lengths. The manipulator is equipped with a symmetrical protective plate and a driver-controlled double gripper structure to ensure the stability of grasping and avoid the risk of slipping. The overall design reduces running deviation through limiting devices such as limit rollers and anti-slip plates. The cooperation between the rollers and guide rail tubes reduces friction loss, thereby extending the life of the equipment.

[0026] 2. The mounting block, mounting slot, fixing block, threaded slot, threaded rod, turning handle, groove, mounting rod, positioning slot, storage box, hinge, cover, lifting block, card plate, card pad and card slot of the equipment of the present invention can realize precise position adjustment of the end of the manipulator and improve operational flexibility. The hinged design of the storage box and the cover combined with the fixing device of the card plate and the card pad can effectively protect the internal tools and prevent accidental opening, thereby enhancing the safety of the equipment. The sliding fit between the mounting rod and the positioning slot and the rotating connection of the threaded rod can simplify the component disassembly and assembly process and reduce the difficulty of maintenance. The adaptive design of the groove and the turning handle optimizes the manual operation feel and reduces work fatigue.

[0027] 3. The fixing groove A, limiting plate, mounting cover, fixing groove B, clamping rod, soft pad, stop block and pull block of the equipment of the present invention can realize the rapid positioning and stable fixation of the oil pipe or tool. The buffering design of the clamping rod and the soft pad can effectively protect the surface of the pipe body and reduce wear during the clamping process. The sliding connection mechanism of the stop block and the pull block simplifies the locking and releasing operations and improves the working efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 This is a perspective view of the main structure of a vehicle-mounted intelligent manipulator for transporting oil pipes and oil rods in oil fields up and down;

[0029] Figure 2 This is an exploded perspective view of the guide rail mechanism of a vehicle-mounted intelligent manipulator for vertically transporting oil pipes and oil rods in an oil field according to the present invention;

[0030] Figure 3 The invention is a vehicle-mounted intelligent manipulator for transporting oil pipes and oil rods up and down in the oil field. Figure 2 A magnified stereoscopic view of the structure at center A;

[0031] Figure 4 This is an exploded perspective view of the sliding seat mechanism of a vehicle-mounted intelligent manipulator for vertically transporting oil pipes and oil rods in an oil field according to the present invention;

[0032] Figure 5 The invention is a vehicle-mounted intelligent manipulator for transporting oil pipes and oil rods up and down in the oil field. Figure 4 A magnified stereoscopic view of the structure at point B in the middle;

[0033] Figure 6 This is an exploded perspective view from above of the sliding seat mechanism of a vehicle-mounted intelligent manipulator for vertically transporting oil pipes and oil rods in an oil field according to the present invention;

[0034] Figure 7 This is an exploded perspective view of the mechanical arm mechanism of a vehicle-mounted intelligent manipulator for vertically transporting oil pipes and oil rods in an oil field according to the present invention;

[0035] Figure 8 The invention is a vehicle-mounted intelligent manipulator for transporting oil pipes and oil rods up and down in the oil field. Figure 7Enlarged stereoscopic view of the structure at C in the middle;

[0036] Figure 9 This is an exploded three-dimensional diagram of the manipulator mechanism of a vehicle-mounted intelligent manipulator for moving oil pipes and oil rods up and down in oil fields according to the present invention.

[0037] In the figure: 1. Guide rail mechanism; 101. Guide rail plate; 102. Connecting plate; 103. Guide rail tube; 104. Mounting plate; 2. Sliding seat mechanism; 201. Sliding plate; 202. Anti-slip plate; 203. Fixed rod A; 204. Roller; 205. Protruding plate A; 206. Limiting roller A; 207. Protruding plate B; 208. Fixed rod B; 209. Limiting roller B; 210. Baffle; 211. Motor A; 212. Gear A; 213. Rack; 214, gear B; 3, robotic arm mechanism; 301, bump; 302, rotating groove; 303, motor B; 304, rotating plate; 305, fixed plate; 306, rotating groove A; 307, motor A; 308, rotating rod A; 309, arm body A; 310, reinforcement rod A; 311, rotating groove B; 312, motor B; 313, rotating rod B; 314, arm body B; 315, reinforcement rod B; 316, rotating groove C; 317, motor C; 318, rotating rod C; 319, arm body C; 320, side plate; 321, rotating groove D; 322, motor D; 323, connecting rod A; 4, manipulator mechanism; 401, connecting rod B; 402, protective plate A; 403, connecting rod C; 404, protective plate B; 405, driver; 406, side block A; 407, rotating rod A; 408, gripper A; 409, side block B; 410, rotating rod B; 411, gripper B; 5. Mounting block; 6. Mounting slot; 7. Fixing block; 8. Threaded slot; 9. Threaded rod; 10. Turning handle; 11. Groove; 12. Mounting rod; 13. Positioning slot; 14. Storage box; 15. Hinge; 16. Cover; 17. Lifting block; 18. Clamping plate; 19. Clamping pad; 20. Clamping slot; 21. Fixing slot A; 22. Limiting plate; 23. Mounting cover; 24. Fixing slot B; 25. Clamping rod; 26. Cushion; 27. Stopper; 28. Pull block. DETAILED DESCRIPTION

[0038] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the implementation regulations described are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0039] Please see the attached Figure 1 -Attached Figure 9As shown, the present invention provides a technical solution: a vehicle-mounted intelligent manipulator for transporting oil pipes and oil rods up and down in oil fields, comprising a guide rail mechanism 1, a sliding seat mechanism 2 is provided at the top of the guide rail mechanism 1, a manipulator mechanism 3 is provided at the top of the sliding seat mechanism 2, and a manipulator mechanism 4 is provided at the output end of the manipulator mechanism 3.

[0040] Example 1, according to Figures 1-4 、 Figure 6-Figure 9As shown, the guide rail mechanism 1 includes a guide rail plate 101, and guide rail tubes 103 are provided at the front and rear ends of the guide rail plate 101. A mounting plate 104 is fixedly installed at the bottom end of the guide rail plate 101. The sliding seat mechanism 2 includes a sliding plate 201, and an anti-slip plate 202 and a rotating roller 204 are provided at the bottom end of the sliding plate 201. A limiting roller A206 and a limiting roller B209 are provided at the bottom end of the sliding plate 201. A motor A211 is provided at the top of the sliding plate 201, and a gear A212, a rack 213 and a gear B214 are provided at the output end of the motor A211. The robotic arm mechanism 3 includes a protrusion 301, and a motor B303, a rotating plate 304 and a fixed plate 305 are provided inside the protrusion 301. A motor A307 and an arm body are provided at the top of the fixed plate 305. A309, the arm body A309 is provided with a motor B312 and an arm body B314, the arm body B314 is provided with a motor C317 and an arm body C319, the arm body C319 is provided with a motor D322, the manipulator mechanism 4 includes a connecting rod B401, the left side of the connecting rod B401 is provided with a protective plate A402 and a protective plate B404 and a driver 405, the left side of the protective plate B404 is provided with a gripper A408 and a gripper B411, the guide rail tube 103 is fixed to the front and rear ends of the guide rail plate 101 through the connecting plate 102, the mounting plate 104 is fixed to the center of the bottom end of the guide rail plate 101, the anti-slip plates 202 are symmetrically distributed at the front and rear ends of the bottom end of the sliding plate 201, and the roller 204 is set through the fixing rod A203 In the middle of the anti-slip plate 202, the rotating roller 204 is rotatably connected to the anti-slip plate 202, the limiting roller A206 is fixed to the bottom end of the sliding plate 201 through the convex plate A205, the limiting roller A206 is rotatably connected to the guide rail tube 103, the limiting roller B209 is fixed to the bottom end of the sliding plate 201 through the convex plate B207, the limiting roller B209 rotates on the back of the convex plate B207 through the fixing rod B208, the limiting roller B209 is rotatably connected to the guide rail tube 103, a baffle 210 is fixedly installed on the top of the sliding plate 201, the gear A212 drives the gear B214 to rotate through the rack 213, the rack 213 is rotatably connected to the sliding plate 201, and the motor B303 drives the rotating plate 304 to rotate through the rotating groove 302 Rotate, the rotating plate 304 is rotatably connected to the protrusion 301, the motor A307 drives the arm body A309 to rotate through the rotating groove A306 and the rotating rod A308, the arm body A309 is rotatably connected to the fixed plate 305, the bottom end of the arm body A309 is fixedly installed with a reinforcement rod A310, the motor B312 drives the arm body B314 to rotate through the rotating groove B311 and the rotating rod B313, the arm body B314 is rotatably connected to the arm body A309, the top end of the arm body B314 is fixedly installed with a reinforcement rod B315, the motor C317 drives the arm body C319 to rotate through the rotating groove C316 and the rotating rod C318, the arm body C319 is rotatably connected to the arm body B314, and the inside of the arm body C319 is fixedly installed with a side plate 320,The output end of motor D322 is equipped with a connecting rod A323, which is rotatably connected to the side plate 320 via a rotating groove D321. Driver 405 is fixed between protective plate A402 and protective plate B404. Protective plates A402 and B404 are fixed together by connecting rods C403, which are evenly distributed at the four corners between protective plates A402 and B404. Side block A406 is fixedly installed on the left side of protective plate B404, with a rotating rod A407 located in the middle. A gripper A408 is located on the left side of rotating rod A407. Side block B409 is fixedly installed on the left side of protective plate B404, with a rotating rod B410 located in the middle. A gripper B411 is located on the left side of rotating rod B410.

[0041] The effect achieved by the entire embodiment 1 is: significant technical optimization is achieved, the guide rail mechanism 1 adopts a combined guide system of an anti-slip plate 202 and a limiting roller, and cooperates with the rack 213 gear drive method to effectively improve the operating stability and positioning accuracy of the sliding seat, and the robotic arm mechanism 3 is designed with a four-section independently driven articulated arm body and a reinforcement rod to achieve multi-degree-of-freedom flexible movement while ensuring a large load-bearing capacity, and the robotic arm mechanism 4 innovatively configures a two-way protective plate and an independently driven linkage gripper, which not only enhances the grasping adaptability but also avoids the motion interference of the traditional connecting rod structure.

[0042] Example 2, according to Figure 1 、 Figure 4-Figure 9 As shown, the output end of the motor D322 is provided with a mounting block 5, the top of the mounting block 5 is fixedly mounted with a fixing block 7, the interior of the fixing block 7 is provided with a threaded rod 9, the top of the threaded rod 9 is fixedly mounted with a turning handle 10, the top of the turning handle 10 is provided with a groove 11, the right side of the connecting rod B401 is fixedly mounted with a mounting rod 12, the top of the sliding plate 201 is fixedly mounted with a storage box 14, the top of the storage box 14 is provided with a cover plate 16, the top of the cover plate 16 is fixedly mounted with a lifting block 17, the side of the cover plate 16 is fixedly mounted with a card plate 18, and the card plate 1 The inner wall of 8 is fixedly installed with a card pad 19, the threaded rod 9 is rotatably connected to the fixed block 7 through the threaded groove 8, the threaded rod 9 is rotatably connected to the mounting rod 12 through the positioning groove 13, the turn handle 10 is rotatably connected to the fixed block 7, the mounting rod 12 is slidably connected to the mounting block 5 through the mounting groove 6, the cover 16 is rotatably connected to the storage box 14 through the hinge 15, the card plates 18 are symmetrically distributed at the left and right ends of the cover 16, and a card slot 20 is opened on the side of the storage box 14. The card pad 19 is slidably connected to the storage box 14 through the card slot 20.

[0043] The effect achieved by the entire embodiment 2 is as follows: the motor D322 cooperates with the threaded rod 9 and the handle 10 to form a quick adjustment mechanism, which can achieve manual fine-tuning without tools, thereby improving the convenience of operation. The sliding connection design of the mounting rod 12 and the mounting block 5 enhances the flexibility of component adaptation and adapts to different working conditions. The storage box 14 integrates the linkage locking system of the cover 16, the card plate 18 and the card pad 19, and the combination of the lifting block 17 and the hinge 15 structure ensures storage safety and is convenient for one-handed opening and closing, effectively solving the problem that traditional storage devices are easy to loosen or cumbersome to operate. The detachable snap-in structure and visual storage design significantly improve the equipment maintenance efficiency and space utilization, and are especially suitable for scenarios that require frequent adjustments and accessories management.

[0044] Example 3, according to Figure 1-Figure 3 As shown, a fixing groove A21 is provided on the surface of the guide rail plate 101, a limiting plate 22 is provided on the side of the guide rail plate 101, and a mounting cover 23 is fixedly installed on the left side of the limiting plate 22. A clamping rod 25 is provided inside the mounting cover 23, and a soft pad 26 is provided on the top of the clamping rod 25. A stopper 27 is fixedly installed on the surface of the clamping rod 25, and a pull block 28 is fixedly installed on the surface of the stopper 27. The mounting cover 23 is slidingly connected to the limiting plate 22, and the mounting cover 23 is symmetrically distributed at the left and right ends of the guide rail plate 101. The clamping rod 25 is slidingly connected to the guide rail plate 101 through the fixing groove A21, and the clamping rod 25 is slidingly connected to the mounting cover 23 through the fixing groove B24. The soft pad 26 is evenly distributed on the top of the clamping rod 25, and the soft pad 26 is slidingly connected to the guide rail plate 101 through the fixing groove A21. The soft pad 26 is slidingly connected to the mounting cover 23 through the fixing groove B24, and the stopper 27 is slidingly connected to the mounting cover 23.

[0045] The effect achieved by the entire embodiment 3 is as follows: the guide rail plate 101 integrates the fixing groove A21 / B to realize two-way sliding adjustment, and cooperates with the linkage locking mechanism of the limit plate 22 and the symmetrical mounting cover 23 to improve the assembly stability and adaptability. The clamping rod 25 adopts a block 27-pull block 28 combined limiting structure, which can complete rapid positioning and adjustment without tools, and is significantly more efficient than the traditional threaded fastening method. The soft pad 26 is designed with a double-groove sliding embedding design, which not only ensures the buffering effect of uniform pressure, but also avoids the risk of displacement, effectively extending the service life of the guide rail and the mounting cover 23. Through the synergistic effect of multi-directional sliding cooperation and the elastic buffer layer, while simplifying the operating process, the shock resistance and durability of the equipment are significantly enhanced.

[0046] The working principle of the entire equipment is: when in use, first move the guide rail mechanism 1 to the position where it needs to be installed, and firmly fix the guide rail plate 101 and the guide rail tube 103 through the mounting plate 104, and then the guide rail tube 103 is fixed to the front and rear ends of the fixed plate 305 through the connecting plate 102, and when in use, first start the sliding seat mechanism 2, so that the motor A211 on the right side of the baffle 210 drives the gear B214 to rotate through the gear A212 and the rack 213, and at this time the gear B214 drives the limiting roller B209 to rotate, so that the limiting roller B209 rotates on the back of the convex plate B207 through the fixing rod B208, and rotates at the bottom end of the guide rail tube 103, and the limiting roller A206 rotates in the middle of the convex plate A205, and rotates at the bottom end of the guide rail tube 103, and the limiting roller A206 rotates in the middle of the convex plate A205, and rotates at the bottom end of the guide rail tube 103. The top of the guide rail tube 103 rotates, thereby driving the sliding plate 201 to slide on the top of the guide rail plate 101. At this time, the roller 204 rotates at the bottom end of the sliding plate 201 through the fixed rod A203, and the anti-slip plate 202 can limit the sliding direction of the sliding plate 201 during the sliding process. When the sliding seat mechanism 2 slides to the required position, the mechanical arm mechanism 3 can be started to make the motor B303 rotate inside the protrusion 301, and drive the rotating plate 304 to rotate on the top of the protrusion 301 through the rotating groove 302, and then start the motor A307, so that the motor A307 drives the arm body A309 to rotate upward on the surface of the fixed plate 305 through the rotating rod A308 and the rotating groove A306, and at this time the arm The arm body A309 drives the reinforcement rod A310 to rotate upward, and then the motor B312 is started, so that the motor B312 drives the arm body B314 to rotate upward inside the arm body A309 through the rotating rod B313 and the rotating groove B311, and at this time the arm body B314 drives the reinforcement rod B315 to rotate upward together, and then the motor C317 can be started, so that the motor C317 drives the arm body C319 to rotate downward inside the arm body B314 through the rotating rod C318 and the rotating groove C316. When the arm body A309, the arm body B314 and the arm body C319 are fully opened, it is possible to finally start the motor D322 on the right side of the side plate 320, so that the connecting rod A323 drives the connecting rod B401 and the mechanical The hand mechanism 4 rotates to meet the handling effects at different angles, and when the manipulator mechanism 4 contacts the workpiece, the driver 405 between the protective plate A402 and the protective plate B404 can be started, so that the gripper A408 rotates on the left side of the side block A406 through the rotating rod A407, and the gripper B411 rotates on the left side of the side block B409 through the rotating rod B410, completing the effect of grabbing the workpiece, and after long-term use, the driver 405 can be disassembled for maintenance through the connecting rod C403. After use, first rotate the handle 10 through the groove 11 to make the threaded rod 9 rotate upward inside the fixed block 7 through the threaded groove 8, and at this time the threaded rod 9 rotates upward inside the mounting rod 12 through the positioning groove 13.When the threaded rod 9 is completely rotated out of the interior of the fixed block 7 through the threaded groove 8 and rotated out of the interior of the mounting rod 12 through the positioning groove 13, it is ready. At this time, hold the manipulator mechanism 4 and pull it downward to make the mounting rod 12 slide outward inside the mounting block 5 through the mounting groove 6. When the mounting rod 12 completely slides out of the interior of the mounting block 5 through the mounting groove 6, it is ready. Then, place the manipulator mechanism 4 inside the storage box 14, and pinch the lifting block 17 to pull it toward the storage box 14, so that the cover 16 rotates at the top of the storage box 14 through the hinge 15. At this time, the cover 16 drives the card pad 19 to rotate together through the card plate 18. When the card pad 19 slides into the interior of the card slot 20, it is ready, so that the card pad 19 can firmly clamp the cover 16 on the top of the storage box 14 through the card slot 20 and the card plate 18, so as to achieve the effect of storing the manipulator mechanism 4, and then start the motor C317 in sequence to make the arm body C319 rotate into the interior of the arm body B314, and the motor B31 2 drives the arm body B314 to rotate into the interior of the arm body A309, and the motor A307 drives the arm body A309 to rotate back to the left side of the fixed plate 305. When the sliding seat mechanism 2 needs to be disassembled for maintenance in the future, first pinch the pull block 28 and pull it backward, so that the pull block 28 drives the clamping rod 25 and the soft pad 26 to slide backward through the stopper 27. At this time, the clamping rod 25 drives the soft pad 26 to slide backward inside the mounting cover 23 through the fixing groove B24 and pass through the fixing groove A21. Slide backward inside the guide rail plate 101. When the lever 25 drives the cushion 26 to completely slide out of the guide rail plate 101 through the fixing slot A21 and out of the mounting cover 23 through the fixing slot B24, the mounting cover 23 can be removed. Then, pinch the limit plate 22 and pull it to the right, so that the mounting cover 23 slides sideways on the surface of the guide rail plate 101 and the guide rail tube 103. After it is completely removed, the sliding seat mechanism 2 can be removed from the surface of the guide rail plate 101 and the guide rail tube 103 for maintenance.

[0047] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A vehicle-mounted intelligent manipulator for transporting oil pipes and oil rods up and down in oil fields, characterized by: It comprises a guide rail mechanism (1), a sliding seat mechanism (2) is provided at the top end of the guide rail mechanism (1), a mechanical arm mechanism (3) is provided at the top end of the mechanical arm mechanism (2), and a mechanical hand mechanism (4) is provided at the output end of the mechanical arm mechanism (3); The guide rail mechanism (1) comprises a guide rail plate (101), guide rail tubes (103) are provided at the front and rear ends of the guide rail plate (101), and a mounting plate (104) is fixedly mounted at the bottom end of the guide rail plate (101); The sliding seat mechanism (2) comprises a sliding plate (201), the bottom end of the sliding plate (201) is provided with an anti-slip plate (202) and a roller (204), the bottom end of the sliding plate (201) is provided with a limiting roller A (206) and a limiting roller B (209), the top end of the sliding plate (201) is provided with a motor A (211), and the output end of the motor A (211) is provided with a gear A (212), a rack (213) and a gear B (214); The robotic arm mechanism (3) includes a convex block (301), wherein a motor B (303), a rotating plate (304) and a fixed plate (305) are provided inside the convex block (301), a motor A (307) and an arm body A (309) are provided at the top end of the fixed plate (305), a motor B (312) and an arm body B (314) are provided inside the arm body A (309), a motor C (317) and an arm body C (319) are provided inside the arm body B (314), and a motor D (322) is provided inside the arm body C (319); The manipulator mechanism (4) comprises a connecting rod B (401), a protective plate A (402), a protective plate B (404) and a driver (405) are provided on the left side of the connecting rod B (401), and a gripper A (408) and a gripper B (411) are provided on the left side of the protective plate B (404).

2. The vehicle-mounted intelligent manipulator for transporting oil pipes and oil rods up and down in an oil field according to claim 1 is characterized by: The guide rail tube (103) is fixed to the front and rear ends of the guide rail plate (101) through the connecting plate (102), the mounting plate (104) is fixed to the center of the bottom end of the guide rail plate (101), the anti-slip plates (202) are symmetrically distributed at the front and rear ends of the bottom end of the sliding plate (201), the roller (204) is set in the middle of the anti-slip plate (202) through the fixing rod A (203), and the roller (204) is rotatably connected to the anti-slip plate (202).

3. The vehicle-mounted intelligent manipulator for transporting oil pipes and oil rods in oil fields as claimed in claim 1 is characterized by: The limiting roller A (206) is fixed to the bottom end of the sliding plate (201) through the convex plate A (205), and the limiting roller A (206) is rotatably connected to the guide rail tube (103). The limiting roller B (209) is fixed to the bottom end of the sliding plate (201) through the convex plate B (207), and the limiting roller B (209) is rotated on the back of the convex plate B (207) through the fixing rod B (208). The limiting roller B (209) is rotatably connected to the guide rail tube (103). A baffle (210) is fixedly installed on the top end of the sliding plate (201), and the gear A (212) drives the gear B (214) to rotate through the rack (213), and the rack (213) is rotatably connected to the sliding plate (201).

4. The vehicle-mounted intelligent manipulator for transporting oil pipes and oil rods up and down in an oil field according to claim 1 is characterized by: The motor B (303) drives the rotating plate (304) to rotate through the rotating groove (302), and the rotating plate (304) is rotationally connected to the protrusion (301). The motor A (307) drives the arm body A (309) to rotate through the rotating groove A (306) and the rotating rod A (308), and the arm body A (309) is rotationally connected to the fixed plate (305). The bottom end of the arm body A (309) is fixedly installed with a reinforcement rod A (310). The motor B (312) drives the arm body B (314) to rotate through the rotating groove B (311) and the rotating rod B (313), and the arm body B (314) is rotationally connected to the arm body A (309). The top end of the arm body B (314) is fixedly installed with a reinforcement rod B (315).

5. The vehicle-mounted intelligent manipulator for transporting oil pipes and oil rods up and down in an oil field according to claim 1 is characterized by: The motor C (317) drives the arm body C (319) to rotate through the rotating groove C (316) and the rotating rod C (318). The arm body C (319) is rotatably connected to the arm body B (314). A side plate (320) is fixedly installed inside the arm body C (319). The output end of the motor D (322) is provided with a connecting rod A (323). The connecting rod A (323) is rotatably connected to the side plate (320) through the rotating groove D (321).

6. The vehicle-mounted intelligent manipulator for transporting oil pipes and oil rods up and down in an oil field according to claim 1 is characterized by: The driver (405) is fixed in the middle of the protective plate A (402) and the protective plate B (404), and the protective plate A (402) and the protective plate B (404) are fixed together by a connecting rod C (403), and the connecting rod C (403) is evenly distributed at the four corners in the middle of the protective plate A (402) and the protective plate B (404). A side block A (406) is fixedly installed on the left side of the protective plate B (404), a rotating rod A (407) is provided in the middle of the side block A (406), and a gripper A (408) is provided on the left side of the rotating rod A (407). A side block B (409) is fixedly installed on the left side of the protective plate B (404), a rotating rod B (410) is provided in the middle of the side block B (409), and a gripper B (411) is provided on the left side of the rotating rod B (410).

7. The vehicle-mounted intelligent manipulator for transporting oil pipes and oil rods up and down in an oil field according to claim 1 is characterized by: The output end of the motor D (322) is provided with a mounting block (5), the top of the mounting block (5) is fixedly mounted with a fixing block (7), the interior of the fixing block (7) is provided with a threaded rod (9), the top of the threaded rod (9) is fixedly mounted with a turning handle (10), the top of the turning handle (10) is provided with a groove (11), the right side of the connecting rod B (401) is fixedly mounted with a mounting rod (12), the top of the sliding plate (201) is fixedly mounted with a storage box (14), the top of the storage box (14) is provided with a cover plate (16), the top of the cover plate (16) is fixedly mounted with a lifting block (17), the side of the cover plate (16) is fixedly mounted with a clamping plate (18), and the inner wall of the clamping plate (18) is fixedly mounted with a clamping pad (19).

8. The vehicle-mounted intelligent manipulator for transporting oil pipes and oil rods up and down in an oil field according to claim 7 is characterized in that: The threaded rod (9) is rotatably connected to the fixed block (7) via the threaded groove (8), the threaded rod (9) is rotatably connected to the mounting rod (12) via the positioning groove (13), the turning handle (10) is rotatably connected to the fixed block (7), the mounting rod (12) is slidably connected to the mounting block (5) via the mounting groove (6), the cover plate (16) is rotatably connected to the storage box (14) via the hinge (15), the card plate (18) is symmetrically distributed at the left and right ends of the cover plate (16), a card slot (20) is provided on the side of the storage box (14), and the card pad (19) is slidably connected to the storage box (14) via the card slot (20).

9. The vehicle-mounted intelligent manipulator for transporting oil pipes and oil rods up and down in an oil field according to claim 1 is characterized by: A fixing groove A (21) is provided on the surface of the guide rail plate (101), a limiting plate (22) is provided on the side of the guide rail plate (101), a mounting cover (23) is fixedly installed on the left side of the limiting plate (22), a clamping rod (25) is provided inside the mounting cover (23), a soft pad (26) is provided on the top of the clamping rod (25), a stopper (27) is fixedly installed on the surface of the clamping rod (25), and a pull block (28) is fixedly installed on the surface of the stopper (27).

10. The vehicle-mounted intelligent manipulator for transporting oil pipes and oil rods up and down in an oil field according to claim 9 is characterized in that: The mounting cover (23) is slidably connected to the limit plate (22), and the mounting cover (23) is symmetrically distributed at the left and right ends of the guide rail plate (101). The clamping rod (25) is slidably connected to the guide rail plate (101) through the fixing groove A (21), and the clamping rod (25) is slidably connected to the mounting cover (23) through the fixing groove B (24). The soft pad (26) is evenly distributed on the top of the clamping rod (25), and the soft pad (26) is slidably connected to the guide rail plate (101) through the fixing groove A (21), and the soft pad (26) is slidably connected to the mounting cover (23) through the fixing groove B (24). The stopper (27) is slidably connected to the mounting cover (23).

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