Vehicle-mounted two-station rotary intelligent swinging manipulator for well repair

Abstract

The invention discloses a vehicle-mounted two-station rotating intelligent swinging manipulator for well repair, and relates to the technical field of vehicle-mounted manipulators, the vehicle-mounted two-station rotating intelligent swinging manipulator comprises a vehicle body mechanism, and a manipulator mechanism is fixedly arranged at the top of the vehicle body mechanism; the wrist and the end effector of the manipulator are designed by adopting double stations, the manipulator is allowed to process two different tasks at the same time or operate at two different positions, the switching time is shortened, the overall operation efficiency is improved, the positioning precision is also improved through the active arrangement of joint parts, meanwhile, a plurality of sensing devices are installed, and the positioning precision is improved. The use environment and state of the manipulator are monitored, the fault prevention capability is improved, a programmable logic controller is introduced, a series of actions are automatically completed through preset programs and algorithms, the links of manual operation are reduced, the labor intensity and the working difficulty of operators are reduced, the lifting operation of an oil pipe, a sucker rod and the like can be automatically completed, and the working efficiency is improved. Manual operation is reduced, and working efficiency is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle-mounted mechanical hands, in particular to a two-station rotary intelligent swing mechanical hand for well repair. BACKGROUND

[0002] Oilfield repair is a core engineering technology to ensure the sustainability of oil production, mainly to solve the needs of oil well fault repair, capacity recovery and safety maintenance. In oilfield repair, a vehicle-mounted mechanical hand for well repair is used, which is an automated equipment for oilfield repair operations, which can effectively improve the operation efficiency, reduce the labor intensity and operation risk of workers.

[0003] It is usually composed of a mechanical arm, a gripper, a drive system, a control system, a positioning system and other parts. The mechanical arm is the main executive component, generally has multiple joints, can realize movement in different directions and angles, and reach different positions of the wellhead to work; the gripper is used to grab and release downhole tools such as oil pipes and pumping rods; the drive system provides power for the movement of the mechanical arm and the gripper, common methods include hydraulic drive, electric drive, etc.; the control system is responsible for coordinating the actions of each component, realizing precise motion control and operation process; the positioning system is used to determine the position and attitude of the mechanical hand, to ensure the accuracy of the operation.

[0004] However, the existing vehicle-mounted mechanical hand for well repair has the following shortcomings:

[0005] The existing mechanical hand for well repair usually adopts single-station design, which is low in efficiency, and it takes a lot of time to switch between different tasks, reducing the overall operation efficiency. In addition, the traditional mechanical hand for well repair has the problem of insufficient positioning accuracy when in use, and requires more manual intervention and operation during use. It cannot monitor and adjust the position and attitude of the mechanical hand in real time, which may cause operation errors and waste of time due to inaccurate positioning.

[0006] Therefore, we propose a two-station rotary intelligent swing mechanical hand for well repair to solve the above problems. SUMMARY

[0007] The purpose of the present application is to provide a two-station rotary intelligent swing manipulator for well repair, which adopts a two-station design for the wrist and end effector of the manipulator, allowing the manipulator to handle two different tasks or operate at two different positions simultaneously, reducing switching time and improving overall work efficiency. The mobility of the joint position also improves the positioning accuracy. At the same time, multiple sensing devices are installed to monitor the operating environment and state of the manipulator, improving fault prevention capability. A programmable logic controller is introduced to automatically complete a series of actions through pre-set programs and algorithms, reducing manual operation steps and labor intensity and work difficulty of the operator. The manipulator can automatically complete the lifting of oil pipes and sucker rods, reducing manual operation and improving work efficiency, thereby solving the problems in the above background technology.

[0008] To achieve the above purpose, the present application provides the following technical solution: a two-station rotary intelligent swing manipulator for well repair, comprising a vehicle body mechanism, a mechanical hand mechanism fixedly arranged on the top of the vehicle body mechanism;

[0009] The mechanical hand mechanism comprises a base, an installation slot is formed in the inside of the base, a rotating shaft is rotatably arranged in the inside of the installation slot, a bearing is sleeved on the outer surface wall of the rotating shaft, the bearing is arranged in the inside of the installation slot, a fixing plate for fixing the bearing is clamped on the top of the installation slot, a rotating arm is sleeved on the outer surface wall of the rotating shaft, a first telescopic rod and a second telescopic rod are respectively installed in the inside of the rotating arm, a first rotating seat is fixedly installed at the telescopic end of the second telescopic rod, a first motor is fixedly installed in the inside of the first rotating seat, an installation seat is fixedly connected to the output end of the first motor, a third telescopic rod is symmetrically installed in the inside of the installation seat, a second rotating seat is connected to the telescopic end of each of the two third telescopic rods, a rotating roller is rotatably connected in the inside of each of the two second rotating seats, and a telescopic arm is fixedly connected to the outer surface wall of each of the two rotating rollers.

[0010] Preferably, an installation block is connected to the telescopic end of each of the two telescopic arms, a second motor is installed on one side of each of the two installation blocks, a connecting shaft is fixedly connected to the output end of each of the two second motors, the two connecting shafts respectively penetrate through the two installation blocks, and a connecting rotating seat is sleeved on the outer surface wall of each of the two connecting shafts.

[0011] Preferably, a fixed end cover is clamped on one end of the connecting shaft, the fixed end cover is fixedly connected to the connecting rotating seat through bolts, and an adjusting clamp seat is fixedly installed at the bottom of the connecting rotating seat.

[0012] Preferably, a plurality of sliding grooves are formed in the inside of the adjusting clamp seat, a sliding block is slidably connected in the inside of each of the plurality of sliding grooves, and a bidirectional screw rod penetrates through the inside of each of the plurality of sliding blocks, the bidirectional screw rod is inserted into the inside of the adjusting clamp seat and penetrates through the adjusting clamp seat at one end.

[0013] Preferably, one side of each of the sliding blocks is fixedly connected with a clamping jaw, and the opposite side of each of the clamping jaws is fixedly connected with a protective pad.

[0014] Preferably, one side of the base is fixedly connected with a supporting plate, and the top of the supporting plate is respectively provided with a third motor and a speed reducer, the output end of the third motor is fixedly connected with the input end of the speed reducer, and the output end of the speed reducer is fixedly connected with one end of the rotating shaft.

[0015] Preferably, the telescopic end of the first telescopic rod is fixedly connected with a supporting block, the bottom of the supporting block is provided with an antiskid pad, the inside of the first rotating seat is provided with a rotating groove, a group of rotating blocks are rotatably connected in the rotating groove, the top of each of the rotating blocks is provided with a connecting plate, the connecting plate is fixedly connected with the mounting seat, and the connecting plate is sleeved on the outer wall of the first motor output shaft.

[0016] Preferably, the second rotating seat and the adjusting clamp seat are also fixedly provided with a second motor on one side, and the output end of the second motor is fixedly connected with the rotating roller and one end of the bidirectional screw rod.

[0017] Preferably, the vehicle body mechanism comprises a loading vehicle, the top of the loading vehicle is provided with an alarm and an operation panel, and the bottom of the loading vehicle is fixedly provided with an inclination sensor.

[0018] Preferably, the base is fixedly installed on the top of the loading vehicle, the first telescopic rod, the second telescopic rod, the third telescopic rod, the telescopic arm, the first motor, the second motor and the third motor are controlled by the operation panel, and the alarm, the inclination sensor, the clamping force sensor, the wind speed sensor and the monitoring probe are signal-connected with the operation panel.

[0019] The inclination sensor is used for detecting the inclination of the vehicle chassis and transmitting a detection signal to the operation panel for threshold judgment.

[0020] The clamping force sensor is used for detecting the clamping force value between the two clamping jaws and transmitting a detection value to the operation panel.

[0021] The wind speed sensor is used for detecting the wind speed at the clamping jaw and transmitting a detection value to the operation panel for threshold judgment.

[0022] The monitoring probe is used for monitoring the image of the oil pipe grabbed by the clamping jaw and sending a monitoring signal to the operation panel.

[0023] The alarm is used for fault alarm of the operation panel.

[0024] Compared with the prior art, the present application has the following advantages:

[0025] 1、The wrist and end effector of the mechanical hand adopt a double-station design, the double-station design allows the mechanical hand to simultaneously process two different tasks or operate at two different positions, reduces switching time, improves overall operation efficiency, the mobility of the joint position also improves positioning accuracy, at the same time, a plurality of sensing devices are installed to monitor the use environment and state of the mechanical hand, improve fault prevention capability, a programmable logic controller is introduced, a series of actions are automatically completed through preset programs and algorithms, reducing the link of manual operation, reducing the labor intensity and work difficulty of the operator, the mechanical hand can automatically complete the tripping operation of oil pipes, sucker rods and the like, reducing manual operation and improving operation efficiency.

[0026] 2、The device adjusts the angle of rotation of each motor and the length of the telescopic rod to control the position and angle of the mechanical hand, the first motor drives the mounting seat to rotate to adjust the station, quickly switches the grabbing station, improves work efficiency, installs a wind speed sensor and a monitoring probe, respectively used for monitoring the wind speed condition of the clamping jaw in use, timely monitoring and feedback, avoiding affecting the stability of the device and the safety of construction, the monitoring probe is used for monitoring the working state of the clamping jaw, the image is fed back to the operation panel, facilitating fault adjustment, an inclination sensor is installed to monitor the inclination of the vehicle chassis, timely adjusting the vehicle counterweight and working state, avoiding rollover, improving intelligent management capability and use safety factor. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 It is a front view structure perspective view of the two-station rotating intelligent swing mechanical hand of the vehicle-mounted well repair device;

[0028] Figure 2 It is a front view structure perspective view of the two-station rotating intelligent swing mechanical hand of the vehicle-mounted well repair device;

[0029] Figure 3 It is a front view structure perspective view of the two-station rotating intelligent swing mechanical hand of the vehicle-mounted well repair device;

[0030] Figure 4 It is a front view structure perspective view of the two-station rotating intelligent swing mechanical hand of the vehicle-mounted well repair device;

[0031] Figure 5 It is a front view structure perspective view of the two-station rotating intelligent swing mechanical hand of the vehicle-mounted well repair device;

[0032] Figure 6 It is a front view structure perspective view of the two-station rotating intelligent swing mechanical hand of the vehicle-mounted well repair device;

[0033] Figure 7The application discloses a two-station rotating intelligent swing mechanical arm for well repair Figure 5 An enlarged view of the middle A;

[0034] Figure 8 The application discloses a two-station rotating intelligent swing mechanical arm for well repair Figure 6 An enlarged view of the middle B;

[0035] Figure 9 A deformation drawing of the two-station rotating intelligent swing mechanical arm for well repair.

[0036] In the figure: 1, vehicle body mechanism; 101, loading vehicle; 102, alarm; 103, operation panel; 104, inclination sensor; 2, mechanical arm mechanism; 201, base; 202, mounting groove; 203, rotating shaft; 204, bearing; 205, fixed plate; 206, rotating arm; 207, first telescopic rod; 208, supporting block; 209, anti-skid pad; 210, second telescopic rod; 211, first rotating seat; 212, rotating groove; 213, rotating block; 214, connecting plate; 215, first motor; 216, mounting seat; 217, third telescopic rod; 218, second rotating seat; 219, rotating roller; 220, telescopic arm; 221, mounting block; 222, second motor; 223, connecting shaft; 224, connecting rotating seat; 225, fixed end cover; 226, adjusting clamp seat; 227, sliding groove; 228, sliding block; 229, bidirectional screw rod; 230, clamping jaw; 231, protective pad; 232, clamping force sensor; 233, wind speed sensor; 234, monitoring probe; 235, supporting plate; 236, third motor; 237, speed reducer. DETAILED DESCRIPTION

[0037] The technical solutions in the embodiments of the application will be clearly and completely described below with reference to the drawings in the embodiments of the application. Obviously, the described embodiments are only part of the embodiments of the application, rather than all the embodiments of the application. Based on the embodiments in the application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the application.

[0038] Please refer to the drawings attached Figure 1 -attached Figure 8 As shown in the drawings, the application provides a technical solution: a two-station rotating intelligent swing mechanical arm for well repair, which comprises a vehicle body mechanism 1, and a mechanical arm mechanism 2 is fixedly arranged at the top of the vehicle body mechanism 1.

[0039] Embodiment 1, according to Figures 4-6As shown, the mechanical hand mechanism 2 includes a base 201, the inside of the base 201 is provided with a mounting groove 202, the inside of the mounting groove 202 is rotatably provided with a rotating shaft 203, the outer wall of the rotating shaft 203 is sleeved with a bearing 204, the bearing 204 is arranged in the inside of the mounting groove 202, the top of the mounting groove 202 is clamped with a fixing plate 205 for fixing the bearing 204, the outer wall of the rotating shaft 203 is sleeved with a rotating arm 206, the inside of the rotating arm 206 is respectively provided with a first telescopic rod 207 and a second telescopic rod 210, the telescopic end of the second telescopic rod 210 is fixedly provided with a first rotating seat 211, the inside of the first rotating seat 211 is fixedly provided with a first motor 215, the output end of the first motor 215 is fixedly connected with a mounting seat 216, the inside of the mounting seat 216 is symmetrically provided with a third telescopic rod 217, the telescopic end of the two third telescopic rods 217 is connected with a second rotating seat 218, the inside of the two second rotating seats 218 is rotatably connected with a rotating roller 219, the outer wall of the two rotating rollers 219 is fixedly connected with a telescopic arm 220.

[0040] The effect achieved by the whole embodiment 1 is that: by fixing and connecting the base 201 with the top of the loading vehicle 101, the integration of the device is realized, a group of mounting grooves 202 are arranged in the inside of the base 201, a rotating shaft 203 is rotatably connected in the inside of the mounting groove 202, a group of bearings 204 are sleeved on the outer wall of the rotating shaft 203, a group of bearings 204 are respectively arranged in a group of mounting grooves 202, a fixing plate 205 is arranged to be clamped with the mounting groove 202, the fixing plate 205 and the base 201 are fixed by bolt connection, the bearings 204 are fixed, the power output by the third motor 236 is transmitted to the rotating shaft 203 after speed reduction by the speed reducer 237, the rotating arm 206 sleeved on the outer wall of the rotating shaft 203 is driven to rotate, the first telescopic rod 207 and the second telescopic rod 210 are fixedly arranged in the inside of the rotating arm 206, the first rotating seat 211 is fixedly arranged at the telescopic end of the second telescopic rod 210, the first motor 215 is fixedly arranged in the inside of the first rotating seat 211, the mounting seat 216 is arranged at the output end of the first motor 215, the second telescopic rod 210 is used to control the grabbing height, the first motor 215 is used to drive the first rotating seat 211 to rotate and adjust the grabbing station, the design of the double-station improves the overall operation efficiency. A group of third telescopic rods 217 are symmetrically arranged in the inside of the mounting seat 216, the second rotating seat 218 is connected at the telescopic end of the third telescopic rod 217, the length of the third telescopic rod 217 is adjusted to control the extension position of the second rotating seat 218, which is convenient for grabbing the oil pipe, the rotating roller 219 is rotatably connected in the inside of the second rotating seat 218, the telescopic arm 220 is fixedly connected on the outer wall of the rotating roller 219, the second motor 222 is fixedly arranged on one side of the second rotating seat 218, one end of the rotating roller 219 is fixedly connected with the output end of the second motor 222, the second motor 222 is used to drive the rotating roller 219 to rotate and adjust the angle of the telescopic arm 220, the telescopic movement of the front end effector is realized, and the working distance is adjusted.

[0041] Embodiment 2, according to Figures 4-8 As shown in the drawings, the telescopic ends of the two telescopic arms 220 are connected with mounting blocks 221, one side of the two mounting blocks 221 is mounted with second motors 222, the output ends of the two second motors 222 are fixedly connected with connecting shafts 223, the two connecting shafts 223 respectively penetrate through the two mounting blocks 221, and the outer walls of the two connecting shafts 223 are respectively sleeved with connecting rotating seats 224; one end of the connecting shaft 223 is clamped with a fixed end cover 225, the fixed end cover 225 is fixedly connected with the connecting rotating seat 224 through bolts, and the bottom of the connecting rotating seat 224 is fixedly installed with an adjusting clamp seat 226; a group of sliding grooves 227 are arranged in the inside of the adjusting clamp seat 226, a group of sliding blocks 228 are slidably connected in the inside of the group of sliding grooves 227, a bidirectional screw rod 229 penetrates through the inside of the group of sliding blocks 228, and the bidirectional screw rod 229 is inserted into the inside of the adjusting clamp seat 226 and penetrates through the adjusting clamp seat 226 at one end; one side of the group of sliding blocks 228 is fixedly connected with clamping jaws 230, and the opposite sides of the group of clamping jaws 230 are fixedly connected with protective pads 231; one side of the clamping jaw 230 is mounted with a clamping force sensor 232, and the top of the adjusting clamp seat 226 is mounted with a wind speed sensor 233 and a monitoring probe 234; one side of the base 201 is fixedly connected with a supporting plate 235, and the top of the supporting plate 235 is respectively mounted with a third motor 236 and a speed reducer 237, the output end of the third motor 236 is fixedly connected with the input end of the speed reducer 237, and the output end of the speed reducer 237 is fixedly connected with one end of the rotating shaft 203.

[0042] The effect achieved by the whole embodiment 2 is that: by fixing the mounting block 221 at the telescopic end of the telescopic arm 220, fixing the second motor 222 at one side of the mounting block 221, fixing the connecting shaft 223 at the output end of the second motor 222, setting the connecting shaft 223 to penetrate through the mounting block 221, setting the connecting rotating seat 224 on the outer wall of the connecting shaft 223, setting the fixed end cover 225 to be connected with one end of the connecting shaft 223, and then fixing the fixed end cover 225 on one side of the connecting rotating seat 224 by using bolts, the flexibility of grabbing is improved by driving the grabbing end to rotate by the second motor 222, the adjusting clamp seat 226 is fixedly installed at the bottom of the connecting rotating seat 224, a group of sliding grooves 227 are formed in the adjusting clamp seat 226, the sliding block 228 is slidably connected in the sliding groove 227, the bidirectional screw rod 229 penetrates through the sliding block 228 and is inserted into the adjusting clamp seat 226, one end of the bidirectional screw rod 229 penetrates through the adjusting clamp seat 226 and is fixedly connected with the output end of the second motor 222 installed on the outer side of the adjusting clamp seat 226, the bidirectional screw rod 229 is threadedly connected with the sliding block 228 by driving the bidirectional screw rod 229 by the second motor 222, so that a group of sliding blocks 228 move synchronously to control the clamping jaws 230 fixedly installed on one side of the sliding block 228 to move close to each other, the oil pipe is grabbed, the protective pads 231 are fixedly installed on the opposite sides of a group of clamping jaws 230 to avoid damaging the oil pipe, at the same time, the clamping force sensors 232 are fixedly installed on one side of the clamping jaws 230 to monitor the clamping force of the two clamping jaws 230 and prevent the pipe column from being damaged due to over-tightening, the wind speed sensor 233 and the monitoring probe 234 are installed on the top of the adjusting clamp seat 226 and are used to monitor the wind speed condition of the clamping jaws 230 during use, so as to timely monitor and feedback and avoid affecting the stability of the equipment and the safety of construction, the monitoring probe 234 is used to monitor the working state of the clamping jaws 230, image feedback is realized to the operation panel 103, so as to facilitate fault adjustment, the monitoring sensing devices are signal-connected with the operation panel 103, detection values are received and processed by the operation panel 103, and the detection values are analyzed and judged, when the detection value changes too much, the alarm 102 is triggered to give a warning, the working state is adjusted in time, and the fault prevention capability is improved. The base plate 235 is fixedly installed on one side of the base 201, the third motor 236 and the speed reducer 237 are fixedly installed on the top of the base plate 235, the output end of the third motor 236 is fixedly connected with the input end of the speed reducer 237, and the output end of the speed reducer 237 is fixedly connected with one end of the rotating shaft 203, power output is realized by the third motor 236, the power output by the third motor 236 is transmitted to the rotating shaft 203 through gear speed change after speed reduction by the speed reducer 237, the rotating shaft 203 and the rotating arm 206 sleeved on the outer wall of the rotating shaft 203 are driven to rotate, and the rotating arm 206 is adjusted to a position perpendicular to the loading vehicle 101.

[0043] Embodiment 3, according to Figures 1-9As shown, the telescopic end of the first telescopic rod 207 is fixedly connected with a support block 208, the bottom of the support block 208 is provided with an anti-skid pad 209, the inside of the first rotating seat 211 is provided with a rotating groove 212, a group of rotating blocks 213 are rotatably connected in the inside of the rotating groove 212, the top of the group of rotating blocks 213 is provided with a connecting plate 214, the connecting plate 214 is fixedly connected with the mounting seat 216, and the connecting plate 214 is sleeved on the outer wall of the output shaft of the first motor 215; the second rotating seat 218 and one side of the adjusting clamp seat 226 are also fixedly provided with a second motor 222, and the output end of the second motor 222 is fixedly connected with the rotating roller 219 and one end of the bidirectional screw rod 229 respectively; the vehicle body mechanism 1 comprises a loading vehicle 101, the top of the loading vehicle 101 is provided with an alarm 102 and an operation panel 103, and the bottom of the loading vehicle 101 is fixedly provided with an inclination sensor 104.

[0044] The effect achieved by the whole embodiment 3 is that after the rotating arm 206 is adjusted to the vertical position, the length of the first telescopic rod 207 is adjusted, the telescopic end fixedly installed support block 208 is brought into contact with the ground, the bottom of the support block 208 is fixedly provided with an anti-skid pad 209, the friction with the ground is increased, and the stability of the support is improved. The rotating groove 212 is arranged in the inside of the first rotating seat 211, a group of rotating blocks 213 are rotatably connected in the inside of the rotating groove 212, the connecting plate 214 is arranged on the top of the group of rotating blocks 213, the connecting plate 214 is sleeved on the outer wall of the first motor 215, and then the connecting plate 214 is fixedly connected with the mounting seat 216, so that the supporting point is increased and the stability of the mounting seat 216 is improved. The alarm 102 and the operation panel 103 are arranged on the top of the loading vehicle 101, the loading vehicle 101 is controlled and operated by using the operation panel 103, the inclination sensor 104 is arranged on the bottom of the loading vehicle 101, the inclination of the vehicle chassis is monitored, the monitoring signal is read by the operation panel 103 connected with the signal, the holding and grabbing positions of the two stations of the mechanical hand mechanism 2 are adjusted according to the monitoring value, and the rollover is prevented.

[0045] In embodiment 4, according to Figures 1-9 As shown, the base 201 is fixedly installed on the top of the loading vehicle 101, the first telescopic rod 207, the second telescopic rod 210, the third telescopic rod 217, the telescopic arm 220, the first motor 215, the second motor 222 and the third motor 236 are controlled by the operation panel 103, and the alarm 102, the inclination sensor 104, the clamping force sensor 232, the wind speed sensor 233 and the monitoring probe 234 are signal connected with the operation panel 103.

[0046] The inclination sensor 104 is used for detecting the inclination of the vehicle chassis and transmitting the detection signal to the operation panel 103 for threshold judgment.

[0047] Clamping force sensor 232 is used to detect the clamping force value between the two clamping jaws 230, and transmit the detection value to the operation panel 103;

[0048] Wind speed sensor 233 is used to detect the wind speed at the clamping jaw 230, and transmit the detection value to the operation panel 103 for threshold judgment;

[0049] Monitoring probe 234 is used to monitor the image of the clamping jaw 230 grabbing the oil pipe, and send the monitoring signal to the operation panel 103;

[0050] Alarm 102 is used for fault alarm of the operation panel 103.

[0051] The effect achieved by the whole embodiment 4 is that the electrical elements in the control device are controlled by the operation panel 103, a series of actions are automatically completed by the preset program and algorithm, the intelligent operation and control of the manipulator reduce the manual operation link and the labor intensity and work difficulty of the operator. The inclination sensor 104 is used to monitor the inclination of the vehicle chassis, the monitoring signal is read by the operation panel 103 connected with the signal, the holding and grabbing positions of the two stations of the manipulator 2 are adjusted according to the monitoring value to prevent rollover. The clamping force sensor 232 is used to detect the clamping force formed between the two clamping jaws 230 to avoid damaging the oil pipe. The wind speed sensor 233 and the monitoring probe 234 are used to monitor the wind speed condition of the clamping jaw 230 in use, and timely monitoring and feedback are avoided to affect the stability of the equipment and the safety of construction. The monitoring probe 234 is used to monitor the working state of the clamping jaw 230, and the image is fed back to the operation panel 103 for easy fault adjustment. The monitoring sensor equipment is connected with the operation panel 103, the detection value is received and processed by the operation panel 103, and the value is analyzed and judged. When the detection value changes too much, the alarm 102 is triggered to make a warning, the working state is adjusted in time, and the fault prevention ability is improved.

[0052] The working principle of the whole device is that when the device is used, the manipulator 2 is first installed on the top of the vehicle mechanism 1, the manipulator 2 is loaded on the loading vehicle 101, and the loading vehicle 101 is used to load the manipulator 2, which is convenient for moving to the oil field workover area during well repair. The alarm 102 and the operation panel 103 are installed on the top of the loading vehicle 101, the operation panel 103 is used to control and operate the manipulator 2, and the inclination sensor 104 is installed on the bottom of the loading vehicle 101 to monitor the inclination of the vehicle chassis. The monitoring signal is read by the operation panel 103 connected with the signal, and the holding and grabbing positions of the two stations of the manipulator 2 are adjusted according to the monitoring value to prevent rollover.

[0053] The mechanical hand mechanism 2 is installed on the top of the loading vehicle 101, and the integration of the device is realized by fixedly connecting the base 201 with the top of the loading vehicle 101. A group of installation grooves 202 are arranged in the inside of the base 201, a rotating shaft 203 is rotatably connected in the inside of the installation groove 202, a group of bearings 204 are sleeved on the outer surface wall of the rotating shaft 203, the group of bearings 204 are respectively installed in the inside of the group of installation grooves 202, a fixed plate 205 is clamped with the installation groove 202, the fixed plate 205 and the base 201 are fixedly connected by bolts, the bearing 204 is fixed, a supporting plate 235 is fixedly installed on one side of the base 201, a third motor 236 and a speed reducer 237 are fixedly installed on the top of the supporting plate 235, the output end of the third motor 236 is fixedly connected with the input end of the speed reducer 237, and the output end of the speed reducer 237 is fixedly connected with one end of the rotating shaft 203. The third motor 236 provides power output, the power output by the third motor 236 is transmitted to the rotating shaft 203 through gear shifting after deceleration by the speed reducer 237, the rotating shaft 203 and the rotating arm 206 sleeved on the outer surface wall of the rotating shaft 203 are driven to rotate, and the rotating arm 206 is adjusted to a position perpendicular to the loading vehicle 101.

[0054] The first telescopic rod 207 and the second telescopic rod 210 are fixedly installed in the inside of the rotating arm 206. After the rotating arm 206 is adjusted to the vertical position, the length of the first telescopic rod 207 is adjusted, the supporting block 208 fixedly installed at the telescopic end of the first telescopic rod 207 is brought into contact with the ground, the antiskid pad 209 is fixedly installed on the bottom of the supporting block 208, the friction with the ground is increased, and the stability of the support is improved. The telescopic end of the second telescopic rod 210 is fixedly installed with the first rotating seat 211, the first motor 215 is fixedly installed in the inside of the first rotating seat 211, the mounting seat 216 is installed on the output end of the first motor 215, the grabbing height is controlled by the second telescopic rod 210, the grabbing station is adjusted by rotating the first rotating seat 211 driven by the first motor 215, and the overall operation efficiency is improved by the design of the double stations. The rotating groove 212 is arranged in the inside of the first rotating seat 211, a group of rotating blocks 213 are rotatably connected in the inside of the rotating groove 212, the connecting plate 214 is sleeved on the outer surface wall of the first motor 215 and fixedly connected with the mounting seat 216, and the stability of the mounting seat 216 is improved.

[0055] Then, a group of third telescopic rods 217 are symmetrically installed inside the mounting base 216, a second rotating base 218 is connected to the telescopic end of the third telescopic rod 217, the length of the third telescopic rod 217 is adjusted to control the extension position of the second rotating base 218, the extension position of the oil pipe is facilitated to be grabbed, a rotating roller 219 is rotatably connected inside the second rotating base 218, a telescopic arm 220 is fixedly connected to the outer surface wall of the rotating roller 219, a second motor 222 is fixedly installed on one side of the second rotating base 218, the output end of the second motor 222 is fixedly connected to one end of the rotating roller 219, the second motor 222 is used to drive the rotating roller 219 to rotate to adjust the angle of the telescopic arm 220, the telescopic movement of the front end executor is realized, and the working distance is adjusted. The mounting block 221 is fixedly installed at the telescopic end of the telescopic arm 220, the second motor 222 is fixedly installed on one side of the mounting block 221, the connecting shaft 223 is fixedly installed at the output end of the second motor 222, the connecting shaft 223 penetrates through the mounting block 221, the connecting rotating base 224 is sleeved on the outer surface wall of the connecting shaft 223, the fixed end cover 225 is clamped at one end of the connecting shaft 223, and then the fixed end cover 225 is fixedly installed on one side of the connecting rotating base 224 by using bolts, the second motor 222 is used to drive the grabbing end to rotate, and the flexibility of grabbing is improved.

[0056] Finally, the adjusting clamp seat 226 is fixedly installed at the bottom of the connecting transposition 224, a group of sliding grooves 227 are formed in the inside of the adjusting clamp seat 226, the sliding blocks 228 are slidably connected in the sliding grooves 227, the bidirectional screw rod 229 penetrates through the inside of the sliding block 228, the bidirectional screw rod 229 is inserted into the inside of the adjusting clamp seat 226 and penetrates through the adjusting clamp seat 226 at one end, the penetrating side is fixedly connected with the output end of the second motor 222 installed outside the adjusting clamp seat 226, the bidirectional screw rod 229 is driven by the second motor 222 to be threadedly connected with the sliding block 228, so that a group of sliding blocks 228 move synchronously to control the clamping jaws 230 fixedly installed at one side of the sliding block 228 to move close to each other to grab the oil pipe, the protective pads 231 are fixedly installed at the opposite side of a group of clamping jaws 230 to avoid damaging the oil pipe, at the same time, the clamping force sensors 232 are fixedly installed at one side of the clamping jaws 230 to monitor the clamping force of the two clamping jaws 230 to prevent the pipe string from being damaged due to over-tightening, the wind speed sensor 233 and the monitoring probe 234 are installed at the top of the adjusting clamp seat 226 to monitor the wind speed condition of the clamping jaws 230 during use to timely monitor and feedback to avoid affecting the stability of the equipment and the safety of construction, the monitoring probe 234 is used to monitor the working state of the clamping jaws 230, the image is fed back to the operation panel 103, so that the fault adjustment is facilitated, the monitoring sensing devices are signal-connected with the operation panel 103, the detection values are received and processed by the operation panel 103, and the detection values are analyzed and judged, when the detection values change too much, the alarm 102 is triggered to give a warning, the working state is timely adjusted, the fault prevention capability is improved, the operation panel 103 is provided with a programmable logic controller, a series of actions are automatically completed through preset programs and algorithms, the intelligent operation and control of the mechanical hand are facilitated, the manual operation links are reduced, the labor intensity and working difficulty of the operator are reduced, the oil pipe and the sucker rod can be automatically completed, manual operation is reduced, the operation efficiency is improved, the two-station design allows the mechanical hand to simultaneously process two different tasks or operate at two different positions, the switching time is reduced, the overall operation efficiency is improved, the mobility of the joint part also improves the positioning accuracy, the position and posture of the mechanical hand can be monitored and adjusted in real time.

[0057] Although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art can modify the technical solutions recorded in the foregoing embodiments or make equivalent replacements to some technical features within the spirit and principle of the present application, and any modification, equivalent replacement, improvement, etc. made within the protection scope of the present application shall be included in the protection scope of the present application.

Claims

1. A vehicle-mounted two-position rotary intelligent swinging manipulator for well repair, comprising a vehicle body mechanism (1), wherein a manipulator mechanism (2) is fixedly mounted on the top of the vehicle body mechanism (1), characterized in that: The mechanical hand mechanism (2) comprises a base (201), an installation groove (202) is formed in the inside of the base (201), a rotating shaft (203) is rotatably arranged in the inside of the installation groove (202), a bearing (204) is arranged on the outer wall of the rotating shaft (203), the bearing (204) is arranged in the inside of the installation groove (202), a fixing plate (205) for fixing the bearing (204) is clamped on the top of the installation groove (202), a rotating arm (206) is arranged on the outer wall of the rotating shaft (203), a first telescopic rod (207) and a second telescopic rod (210) are respectively arranged in the inside of the rotating arm (206), a first rotating seat (211) is fixedly arranged on the telescopic end of the second telescopic rod (210), a first motor (215) is fixedly arranged in the inside of the first rotating seat (211), an installation seat (216) is fixedly connected to the output end of the first motor (215), a third telescopic rod (217) is symmetrically arranged in the inside of the installation seat (216), a second rotating seat (218) is connected to the telescopic end of each third telescopic rod (217), and a rotating roller (219) is rotatably connected to the inside of each second rotating seat (218); the outer wall of each rotating roller (219) is fixedly connected with a telescopic arm (220).

2. The vehicle-mounted two-station rotary intelligent swing manipulator for well repair according to claim 1, characterized in that: The telescopic end of each telescopic arm (220) is connected with an installation block (221), a second motor (222) is arranged on one side of each installation block (221), a connecting shaft (223) is fixedly connected to the output end of each second motor (222), and the connecting shaft (223) penetrates through the installation block (221); a connecting rotating seat (224) is arranged on the outer wall of the connecting shaft (223).

3. The vehicle-mounted two-station rotary intelligent swing manipulator for well repair according to claim 2, characterized in that: One end of the connecting shaft (223) is clamped with a fixed end cover (225), the fixed end cover (225) is fixedly connected with the connecting rotating seat (224) through bolts, and an adjusting clamp seat (226) is fixedly arranged on the bottom of the connecting rotating seat (224).

4. The vehicle-mounted two-station rotary intelligent swing manipulator for well repair according to claim 3, characterized in that: A plurality of slide grooves (227) are formed in the inside of the adjusting clamp seat (226), a plurality of slide blocks (228) are slidably connected in the inside of each slide groove (227), a bidirectional screw rod (229) penetrates through the inside of each slide block (228), and the bidirectional screw rod (229) is inserted into the inside of the adjusting clamp seat (226) and penetrates through the adjusting clamp seat (226) at one end.

5. The vehicle-mounted two-station rotary intelligent swing manipulator for well repair according to claim 4, characterized in that: One side of each slide block (228) is fixedly connected with a clamping jaw (230), one side of each clamping jaw (230) is fixedly connected with a protective pad (231), a clamping force sensor (232) is arranged on one side of the clamping jaw (230), a wind speed sensor (233) and a monitoring probe (234) are arranged on the top of the adjusting clamp seat (226).

6. The vehicle-mounted two-station rotary intelligent swing manipulator for well repair according to claim 5, characterized in that: One side of the base (201) is fixedly connected with a supporting plate (235), the top of the supporting plate (235) is respectively provided with a third motor (236) and a speed reducer (237), the output end of the third motor (236) is fixedly connected with the input end of the speed reducer (237), and one end of the output end of the speed reducer (237) is fixedly connected with the rotating shaft (203).

7. The vehicle-mounted two-station rotary intelligent swing manipulator for well repair according to claim 6, characterized in that: The telescopic end of the first telescopic rod (207) is fixedly connected with a supporting block (208), the bottom of the supporting block (208) is provided with an antiskid pad (209), the inside of the first rotating seat (211) is provided with a rotating groove (212), a group of rotating blocks (213) are rotatably connected in the rotating groove (212), the top of the group of rotating blocks (213) is provided with a connecting plate (214), the connecting plate (214) is fixedly connected with the mounting seat (216), and the connecting plate (214) is sleeved on the outer wall of the output shaft of the first motor (215).

8. The vehicle-mounted two-station rotary intelligent swing manipulator for well repair according to claim 7, characterized in that: The second rotating seat (218) and one side of the adjusting clamp seat (226) are also fixedly provided with a second motor (222), and the output end of the second motor (222) is fixedly connected with the rotating roller (219) and one end of the bidirectional screw rod (229) respectively.

9. The vehicle-mounted two-station rotary intelligent swing manipulator for well repair according to claim 7, characterized in that: The vehicle body mechanism (1) comprises a loading vehicle (101), the top of the loading vehicle (101) is provided with an alarm (102) and an operation panel (103), and the bottom of the loading vehicle (101) is fixedly provided with an inclination sensor (104).

10. The vehicle-mounted two-station rotary intelligent swing manipulator for well repair according to claim 9, characterized in that: The base (201) is fixedly installed on the top of the loading vehicle (101), the first telescopic rod (207), the second telescopic rod (210), the third telescopic rod (217), the telescopic arm (220), the first motor (215), the second motor (222) and the third motor (236) are controlled by the operation panel (103), and the alarm (102), the inclination sensor (104), the clamping force sensor (232), the wind speed sensor (233) and the monitoring probe (234) are signal connected with the operation panel (103). The inclination sensor (104) is used for detecting the inclination of the vehicle chassis and transmitting the detection signal to the operation panel (103) for threshold judgment. The clamping force sensor (232) is used for detecting the clamping force value between the two clamping jaws (230) and transmitting the detection value to the operation panel (103). The wind speed sensor (233) is used for detecting the wind speed at the clamping jaw (230) and transmitting the detection value to the operation panel (103) for threshold judgment. The monitoring probe (234) is used for monitoring the image of the oil pipe grabbed by the clamping jaw (230) and transmitting the monitoring signal to the operation panel (103). The alarm (102) is used for fault alarm of the operation panel (103).

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