Drill floor manipulator connecting seat positioning and assembling method

Abstract

The invention discloses a positioning and assembling method for a drill floor manipulator connecting seat. The drill floor manipulator connecting seat is divided into a connecting assembly, a lug assembly and a support; then the connecting assemblies are spliced through a connecting assembly assembling tool, and the lug assemblies are spliced through a lug assembling tool; and finally, the connecting assembly, the lug assembly and the support are integrally assembled through a connecting base assembling tool. A connecting base with a complex structure is disassembled into a connecting assembly, a lug assembly and a support, precise positioning of all links is achieved by means of an exclusive tool, traditional manual lineation is replaced with mechanical limiting in the whole process, random errors of manual operation are thoroughly reduced, the size consistency of products of different batches is guaranteed, meanwhile, redundant procedures such as secondary assembly and repeated adjustment are omitted, and the production efficiency is improved. And the production period is greatly shortened.

Description

TECHNICAL FIELD

[0001] The present application relates to a kind of rig manipulator connecting seat positioning set pair method, belong to mechanical assembly technical field. BACKGROUND

[0002] Rig manipulator is installed on the large heavy industrial robot system of rig face, its core function is to replace the way that the drilling worker in dangerous area manually operates hanger liquid gas tongs slips and other tools to carry out pipe string handling in traditional drilling operation, realizes the automation of drill string operation, greatly improves the safety and efficiency of drilling operation. Intermediate connecting seat as the key component of rig manipulator, it has important supporting role to the stable operation and function realization of manipulator, but its own structural characteristics bring significant challenge to production. The connecting seat is complex in shape, not only needs to complete a large number of welding operations, and the requirement of welding quality and overall accuracy is extremely high, at the same time involves multiple processing procedures, process flow is longer, the overall production difficulty is greater.

[0003] At present, the conventional production process of the connecting seat in the industry takes manual operation as the core, and the specific process is to carry out manual marking and set pair after material preparation, to carry out manual welding after completing preliminary set pair, to carry out correction and polishing after welding, then to carry out secondary marking and set pair, to carry out manual welding again, and to experience correction and polishing steps again after welding. The whole production process has many links relying on manual operation, which leads to long overall process and low production efficiency. More importantly, large errors are easy to occur in the process of manual marking and set pair, it is difficult to ensure the stability of the quality of connecting seat products of different batches, it is also difficult to effectively control the production cycle, and it puts forward higher requirements on the skill quality of operators, so that the existing production method cannot meet the actual needs of the industry for low-cost high-quality short delivery period. In the whole production process, the efficiency and accuracy of marking and set pair and welding links directly affect the project delivery schedule, and become the main technical bottleneck restricting the stable production of rig manipulator connecting seat. SUMMARY

[0004] The present application aims at: in view of the above problems, a kind of rig manipulator connecting seat positioning set pair method is provided, which can reduce the welding assembly difficulty, improve the accuracy of overall welding assembly, so as to ensure the consistency of connecting seat;Meet the rapid positioning of batch production, improve production efficiency, and meet the requirements of "low cost, high quality and short delivery period".

[0005] The technical scheme adopted by the present application is as follows: A kind of rig manipulator connecting seat positioning set pair method, comprising the following steps: S1, the rig manipulator connecting seat is divided into connecting assembly, ear seat assembly and support; S2, the connecting assembly group is assembled by the connecting assembly group tool, and the ear seat group is assembled by the ear seat group tool. S3, the connecting assembly group is assembled by the connecting assembly group tool, and the ear seat group is assembled by the ear seat group tool.

[0006] Alternatively, the connecting assembly comprises two steel pipes arranged in parallel and connected by a connecting bottom plate, and a plurality of connecting plates are further arranged between the two steel pipes. The ear seat assembly comprises ear seat side plates and ear seat clamping plates arranged in parallel, and the ear seat side plates and the ear seat clamping plates are connected by a vertical plate. The ear seat side plate is longer than the ear seat clamping plate, and at least one rib plate is arranged on the part of the ear seat side plate longer than the ear seat clamping plate. Corresponding positioning holes are arranged on the ear seat side plate and the ear seat clamping plate. The bottom of the ear seat clamping plate is provided with a clamping groove corresponding to the top end of the steel pipe. The drilling platform manipulator connecting seat comprises two groups of symmetrically arranged ear seat assemblies, and the ear seat clamping plates of the two groups of ear seat assemblies are arranged opposite to each other. The front side of the ear seat assembly is provided with the connecting assembly, and the two steel pipes are respectively clamped on the clamping grooves of the two ear seat clamping plates. The side of each ear seat side plate away from the other ear seat side plate is connected with the support.

[0007] Alternatively, the connecting assembly group tool comprises a first bottom plate, and the first bottom plate is provided with a first support positioning member for placing the connecting assembly. The upper part of the first support positioning member has a groove for placing the connecting assembly. The two ends of the groove are arc-shaped. The front and / or rear part of the first bottom plate is further provided with a first positioning member.

[0008] Alternatively, in S2, when the connecting assembly is assembled, the two steel pipes are placed in the groove in parallel, and the outer side of the steel pipe is respectively fitted with the arc-shaped wall of the groove. The connecting bottom plate is placed on the top surface of the first support positioning member, the bottom surface of the connecting bottom plate is fitted with the top surface of the groove, the front end and / or rear end of the connecting bottom plate is fitted with the side surface of the first positioning member, and after positioning, the connecting bottom plate and the steel pipe are respectively spot welded firmly. Then, a plurality of connecting plates are assembled by marking and spot welding.

[0009] Alternatively, the ear seat group tool comprises a second bottom plate, and the second bottom plate is provided with a second support positioning member for placing the ear seat clamping plate. The second support positioning member is provided with a positioning pipe with the same structure as the steel pipe. The front and rear parts of the second bottom plate are further provided with a second positioning member, and the second positioning member is provided with a first positioning pin which can be arranged in the positioning hole of the ear seat side plate and the ear seat clamping plate.

[0010] Alternatively, in S2, when assembling the ear seat assembly, the ear seat side plate is placed flat on the top surface of the second support positioning member, the positioning holes of the ear seat side plate are aligned with the positioning holes of the ear seat side plate, the first positioning pin is inserted into the aligned positioning holes, and then the ear seat side plate is marked, the vertical plate and the rib plate are placed, and spot welding is firm; then the ear seat clamping plate is placed above the ear seat side plate, the bottom surface of the ear seat side plate is attached to the top surface of the vertical plate, the positioning hole of the ear seat clamping plate is inserted into the first positioning pin, the side surface and the clamping groove are tightly attached to the positioning tube, the lower flat surface is attached to the support surface of the second positioning member, and then spot welding is firm after positioning.

[0011] Alternatively, in S3, two sets of ear seat assemblies are first placed in a vertical posture on the connecting seat assembly positioning tool and positioned, then the support is placed on the connecting seat assembly positioning tool and positioned with the ear seat side plate of the ear seat assembly, and finally the two steel pipes of the connecting assembly are inserted into the clamping grooves of the ear seat clamping plates of the two sets of ear seat assemblies to complete positioning.

[0012] Alternatively, the connecting seat assembly positioning tool comprises a third bottom plate, the third bottom plate is provided with a third support positioning member for vertically placing two sets of ear seat assemblies at the same time, the front or rear of the third bottom plate is further provided with a third positioning member, the third positioning member is provided with a second positioning pin, the second positioning pin can be inserted into the positioning holes of the two sets of ear seat side plates and ear seat clamping plates, and the left and right sides of the third support positioning member are respectively provided with fourth support positioning members for placing the supports.

[0013] Alternatively, in S3, two sets of ear seat assemblies are placed symmetrically on the left and right sides of the third support positioning member in a vertical posture, and the clamping grooves of the ear seat assemblies face upwards, and the outer side surface of the ear seat side plate is attached to the inner side surface of the fourth support positioning member; the second positioning shaft is inserted into the positioning holes of the two sets of ear seat assemblies.

[0014] Alternatively, in S3, the support is placed on the top surface of the fourth support positioning member, the inner side wall of the support is attached to the outer side wall of the ear seat side plate of the ear seat assembly, and the bottom surface of the support is attached to the top surface of the fourth support positioning member.

[0015] In summary, due to the adoption of the above technical solutions, the present application has the following advantages: 1. The drilling rig manipulator connecting seat positioning assembly method provided by the application disassembles the complex connecting seat into a connecting assembly, an ear seat assembly and a support, and realizes accurate positioning of each link by means of a special tool: the connecting assembly assembly tool limits the attitude of the steel pipe by an arc-shaped groove and locks the position of the bottom plate by a positioning piece, so as to ensure the parallelism of the steel pipe and the relative position accuracy of the parts; the ear seat assembly tool pre-adapts the steel pipe clamping groove by a positioning pipe and guarantees the coaxiality of the hole position by a positioning pin, so as to avoid manual alignment deviation; the overall assembly tool locks the relative position of each component part by relying on symmetrical support positioning pieces and positioning shafts, mechanically replaces the traditional manual line marking throughout the whole process, completely reduces the random error of manual operation, guarantees the size consistency of different batches of products, simultaneously saves redundant processes such as secondary assembly and repeated adjustment, and greatly shortens the production cycle.

[0016] 2. The drilling rig manipulator connecting seat positioning assembly method provided by the application, the ear seat assembly tool can adapt to the positioning needs of two symmetrical ear seat assemblies by arranging the second positioning pieces in front and back, can cover multiple specifications of assembly without changing the tool, reduces the tool manufacturing and maintenance cost; the connecting plate in the connecting assembly and the rib plate in the ear seat assembly are designed to cooperate with the close-fitting positioning of each component part, enhance the overall rigidity of the connecting seat, reduce welding deformation and structural damage in long-term use; the standardized design of the overall tool simplifies the operation process, reduces the skill dependence on the operator, adapts to the batch production scene, and ensures that the connecting seat is balanced in stress by symmetrical layout and accurate docking, meets the stability requirements of heavy operation of the drilling rig manipulator, and provides key technical support for reliable operation of automatic drilling equipment. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 is a structural schematic diagram of a drilling rig manipulator connecting seat.

[0018] Figure 2 is a structural schematic diagram of a connecting assembly.

[0019] Figure 3 is a structural schematic diagram of an ear seat assembly.

[0020] Figure 4 is a structural schematic diagram of a support.

[0021] Figure 5 is a structural schematic diagram of a connecting assembly assembly tool.

[0022] Figure 6 is a use schematic diagram of the connecting assembly assembly tool.

[0023] Figure 7 is a structural schematic diagram of an ear seat assembly tool.

[0024] Figure 8 is a use schematic diagram of the ear seat assembly tool Figure 1 .

[0025] Figure 9 is the use of the ear seat group pair tool Figure 2 .

[0026] Figure 10 is the structure of the connecting seat group pair tool.

[0027] Figure 11 is the use of the connecting seat group pair tool Figure 1 .

[0028] Figure 12 is the use of the connecting seat group pair tool Figure 2 .

[0029] Figure 13 is the use of the connecting seat group pair tool Figure 3 .

[0030] Marked in the figure: 1-connection assembly, 11-steel pipe, 12 bottom plate, 13-connection plate, 14-bending plate, 2-ear seat assembly, 21-ear seat side plate, 22-ear seat clamping plate, 221-clamping groove, 23-stand plate, 24-rib plate, 25-positioning hole, 3-stand, 4-connection assembly group pair tool, 41-first bottom plate, 42-first support positioning piece, 421-groove, 43-first positioning piece, 5-ear seat group pair tool, 51-second bottom plate, 52-second support positioning piece, 53-positioning pipe, 54-second positioning piece, 55-first positioning pin, 6-connecting seat group pair tool, 61-third bottom plate, 62-third support positioning piece, 63-third positioning piece, 64-second positioning pin, 65-fourth support positioning piece. DETAILED DESCRIPTION

[0031] The present application will be described in detail below with reference to the accompanying drawings.

[0032] In order to make the purpose, technical scheme and advantages of the present application more clear, the present application will be further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific examples described herein are only used to explain the present application and do not limit the present application.

[0033] A rig manipulator connecting seat positioning group pair method, as shown in Figures 1-13 , comprising the following steps: S1, the rig manipulator connecting seat is divided into a connection assembly 1, an ear seat assembly 2 and a stand 3; S2, the connection assembly 1 is spliced by the connection assembly group pair tool 4, and the ear seat assembly 2 is spliced by the ear seat group pair tool 5; S3, the connection assembly 1, the ear seat assembly 2 and the stand 3 are integrally assembled by the connecting seat group pair tool 6.

[0034] The connection seat of the drilling platform manipulator is split into a connection assembly 1, an ear seat assembly 2 and a support 3, which can convert the overall component with complex structure, welding and difficult assembly into multiple independent units with relatively simple structure and convenient individual processing, avoid the precision deviation caused by mutual interference of each part during overall manufacturing, provide a clearer operation direction for subsequent processing. The corresponding assemblies are spliced by the connection assembly assembly tool 4 and the ear seat assembly tool 5, and the exclusive positioning structure of the tool provides a stable and accurate alignment reference for each part of each assembly, ensures the processing precision and consistency of each independent assembly, and lays a high-precision foundation for subsequent overall assembly. Then the three assemblies are assembled by the connection seat assembly tool 6, which can integrate the assemblies with guaranteed precision as a unified reference, avoid the assembly error caused by the non-uniform reference between the assemblies, and realize the high-precision assembly of the connection seat. In the prior art, the manufacturing of the connection seat of the drilling platform manipulator is mostly by overall manual assembly or simple tool assisted method, and there is a lack of systematic disassembly and complete process special tool matching for complex structure, which can only control the precision in a single link and is difficult to balance the overall precision and production efficiency. The method combines the component precision control and overall assembly precision control by reasonable disassembly and cooperative application of special tools, forms a complete precision assembly solution, cooperates the disassembly and tool positioning through process design, realizes the synchronous improvement of precision and efficiency, and solves the core problems of large error, low efficiency and unstable quality in traditional process.

[0035] As another specific embodiment, the connection assembly 1 includes two steel pipes 11 arranged in parallel and connected by a connecting bottom plate 12, and a plurality of connecting plates 13 are arranged between the two steel pipes 11. The two steel pipes 11 arranged in parallel in the connection assembly 1 are connected by the connecting bottom plate 12, which can keep the two steel pipes 11 in a stable parallel posture at all times, avoid the subsequent butt joint deviation caused by the deviation of the steel pipe 11 during assembly, and provide a flat support foundation for the steel pipe 11, so that the connection assembly 1 has a unified reference surface when it is connected with other components. The plurality of connecting plates 13 between the two steel pipes 11 can further enhance the overall rigidity of the connection assembly 1, reduce the deformation caused by uneven structure stress after welding, ensure that the connection assembly 1 maintains the preset structure size during long-term use, and avoid affecting the stable operation of the manipulator due to insufficient rigidity. Further, the connecting plates 13 are connected to the axial ends of the steel pipes 11, and the bending plate 14 is arranged on the inner side of the steel pipe 11 along the axial direction of one of the connecting plates 13.

[0036] The ear seat assembly 2 includes ear seat side plates 21 and ear seat clamping plates 22 arranged in parallel, and the ear seat side plates 21 and the ear seat clamping plates 22 are connected through vertical plates 23. The ear seat side plates 21 are longer than the ear seat clamping plates 22, and at least one rib plate 24 is arranged on the part of the ear seat side plates 21 that is longer than the ear seat clamping plates 22. Corresponding positioning holes 25 are arranged on the ear seat side plates 21 and the ear seat clamping plates 22. The bottom of the ear seat clamping plate 22 is provided with a clamping groove 221 corresponding to the top end of the steel pipe 11. The ear seat side plates 21 and the ear seat clamping plates 22 arranged in parallel in the ear seat assembly 2 are connected through the vertical plates 23. The vertical plates 23 can effectively transmit the stress between the two and maintain the relative position of the ear seat side plates 21 and the ear seat clamping plates 22 stable, preventing relative displacement during assembly or operation. The rib plate 24 arranged on the part of the ear seat side plates 21 that is longer than the ear seat clamping plates 22 can specifically strengthen the structural strength of the extended area of the side plate, avoiding deformation of the area due to stress concentration. At the same time, the rib plate 24 can also provide auxiliary positioning reference for the assembly of the ear seat assembly 2, making it easier to control the relative position of each part during assembly. The corresponding positioning holes 25 on the ear seat side plates 21 and the ear seat clamping plates 22 can be precisely matched with the positioning pins on the assembly tool, ensuring that the two are coaxial and relatively parallel when assembled, completely eliminating the problem of hole position deviation caused by manual alignment. The clamping groove 221 at the bottom of the ear seat clamping plate 22 can be precisely clamped with the top end of the steel pipe 11 of the connecting assembly 1, so that the connecting assembly 1 and the ear seat assembly 2 can be directly pre-fixed through the clamping groove 221 without additional marking adjustment, ensuring the coaxiality and perpendicularity of the two.

[0037] The rig floor manipulator connecting seat includes two sets of symmetrically arranged ear seat assemblies 2. The ear seat clamping plates 22 of the two sets of ear seat assemblies 2 are arranged opposite to each other. The connecting assembly 1 is arranged on the front side of the ear seat assembly 2. Two steel pipes 11 are clamped in the clamping grooves 221 of the two ear seat clamping plates 22. The two sets of ear seat assemblies 2 of the rig floor manipulator connecting seat are symmetrically arranged and the ear seat clamping plates 22 are arranged opposite to each other, which can make the overall force of the connecting seat more balanced, avoid structural damage caused by unbalanced force during operation, and also make the connection of the connecting assembly 1 and the two sets of ear seat assemblies 2 more easily synchronized in precision, reducing the overall error caused by unilateral connection deviation. The connecting assembly 1 is arranged on the front side of the ear seat assembly 2 and the steel pipe 11 is clamped into the clamping groove 221, which can form a stable overall frame. The clamping structure of the clamping groove 221 not only improves the connection tightness, but also realizes pre-fixing before welding, reducing the displacement of parts during welding. Each ear seat side plate 21 is connected to a support 3 on the side away from the other ear seat side plate 21. It can provide additional support for the ear seat assembly 2 and also serve as a transition structure for the connection of the connecting seat and other components of the manipulator, making the overall installation of the connecting seat more stable and avoiding excessive local stress caused by direct connection of the ear seat side plate 21.

[0038] The original connecting seat has a complex overall structure, contains multiple types of parts such as the steel pipe 11, the ear plate, the rib plate 24, the support 3, and the spatial relationship is intertwined, so that manual assembly is prone to problems such as part interference and difficult alignment; after splitting, the structure of each component is more concise and focused. The connecting component 1 is only developed around the fixation of the steel pipe 11, the connecting bottom plate 12, and the connecting plate 13, the ear seat component 2 is focused on the assembly of the ear seat side plate 21, the clamping plate, and the rib plate 24, and the support 3 is an independent support component. The processing object of each component is single, and the operation space is more sufficient, without the need to avoid other parts in the complex overall structure, which greatly reduces the processing difficulty of each link. After splitting, each component can be processed in parallel, and the connecting component 1 and the ear seat component 2 can be simultaneously manufactured on different tooling, without the need to wait for the completion of the previous overall process, thereby shortening the total production cycle; at the same time, the processing flow of each component is more standardized, such as the positioning of the steel pipe 11 of the connecting component 1 and the positioning hole 25 of the ear seat component 2, which can form a fixed step, reducing the time for manual judgment and adjustment, even if the skill requirement for the operator is reduced, the processing efficiency can be guaranteed, which is more suitable for batch production needs.

[0039] As another specific embodiment, the connecting component assembly assembly tooling 4 includes a first bottom plate 41, the first bottom plate 41 is provided with a first support positioning member 42 for placing the connecting component 1, the upper portion of the first support positioning member 42 has a groove 421 for placing the connecting component 1, the two ends of the groove 421 are arc-shaped walls, and the front and / or rear portions of the first bottom plate 41 are further provided with first positioning members 43. The first bottom plate 41 provides a stable bearing foundation for the entire assembly process, ensuring that the tooling itself does not shake or shift during placement and operation, and providing a stable reference platform for the positioning of subsequent components. The groove 421 above the first support positioning member 42 is adapted to the structure of the connecting component 1, the arc-shaped walls at both ends of the groove 421 can tightly fit the outer walls of the two steel pipes 11 in the connecting component 1, and through the limiting action of the arc-shaped surface, the left and right deviation of the steel pipes 11 in the radial direction is limited, ensuring that the two steel pipes 11 always maintain the preset parallel posture and spacing, avoiding structural deviation caused by the inclination or misalignment of the steel pipes 11 during assembly. The first positioning members 43 on the front and / or rear portions of the first bottom plate 41 form a constraint on the connecting component 1 from the axial direction, and the end portion of the connecting component 1 can be fitted with the first positioning members 43, thereby accurately limiting the position of the steel pipes 11 and the connecting bottom plate 12 in the front and rear directions. Among them, the first support positioning member 42 can be a support seat or two support plates arranged along the front and rear. The first positioning members 43 can be baffles or blocks.

[0040] As another specific embodiment, in S2, when assembling the connecting assembly 1, the two steel pipes 11 are placed in parallel in the groove 421, and the outer side surfaces of the steel pipes 11 are respectively fitted with the arc-shaped walls of the groove 421; the connecting bottom plate 12 is placed on the top surface of the first supporting positioning member 42, the bottom surface of the connecting bottom plate 12 is fitted with the top surface of the groove 421, the front end and / or rear end of the connecting bottom plate 12 is fitted with the side surface of the first positioning member 43, and after positioning, the connecting bottom plate 12 and the steel pipes 11 are respectively spot-welded firmly; then a plurality of connecting plates 13 are assembled by marking and spot-welded firmly. The two steel pipes 11 are placed in parallel in the groove 421 and the outer side surfaces are fitted with the arc-shaped walls, and the fitting of the arc-shaped curved surface can naturally limit the left and right shaking of the steel pipes 11 in the radial direction, ensuring that the two steel pipes 11 always maintain the preset parallel posture and spacing. The connecting bottom plate 12 is placed on the top surface of the first supporting positioning member 42, and the fitting of the bottom surface with the top surface of the groove 421 can ensure that the bottom plate is placed horizontally, and the fitting of the front end and / or rear end with the side surface of the first positioning member 43 locks the position of the bottom plate from the axial direction, so that a stable relative positional relationship is formed between the bottom plate and the steel pipes 11. After positioning, the connecting bottom plate 12 and the steel pipes 11 are spot-welded firmly, the precise state after positioning is reserved by local fixation, which prevents the components from being deviated by external force in subsequent operation, and the temporary nature of spot-welding also leaves space for possible fine adjustment. Then a plurality of connecting plates 13 are assembled by marking and spot-welded firmly, which further refines the structure connection on the existing positioning reference, and the marking is based on the stable reference surface, which can ensure the relative positional accuracy of the connecting plate 13, the steel pipe 11 and the bottom plate, and finally the spot-welding makes the connecting plate 13 and other components form a preliminary whole, which enhances the structural stability of the connecting assembly 1.

[0041] As another specific embodiment, the ear seat group assembly tool 5 comprises a second bottom plate 51, the second bottom plate 51 is provided with a second support positioning member 52 for placing the ear seat clamping plate 22 horizontally, and the second support positioning member 52 is provided with a positioning pipe 53 which has the same structure as the steel pipe 11; the front and rear parts of the second bottom plate 51 are further provided with a second positioning member 54, the second positioning member 54 is provided with a first positioning pin 55, and the first positioning pin 55 can be inserted into the positioning hole 25 of the ear seat side plate 21 and the ear seat clamping plate 22. The second bottom plate 51 provides a stable bearing base for the ear seat assembly 2. The second support positioning member 52 is used for placing the ear seat clamping plate 22 horizontally, which can ensure that the ear seat clamping plate 22 is always in a horizontal state during the assembly. The positioning pipe 53 on the second support positioning member 52 has the same structure as the steel pipe 11, which can simulate the shape and size of the steel pipe 11 in the connecting assembly 1, and the clamping groove 221 at the bottom of the ear seat clamping plate 22 can be fitted with the outer wall of the positioning pipe 53, so as to determine the relative position relationship between the clamping groove 221 and the ear seat clamping plate 22 during the assembly. The second positioning member 54 on the front and rear parts of the second bottom plate 51 can be adapted to two symmetrical ear seat assemblies 2 respectively, and the assembly of symmetrical structures can be met by different positioning positions of the same tool. Among them, the second positioning member 54 has two layers of support platforms which are spaced apart along the upper and lower directions, and correspond to the ear seat side plate 21 and the ear seat clamping plate 22 respectively, and the support platforms are respectively provided with insertion holes, and the first positioning pin 55 can be inserted into the two insertion holes.

[0042] As another specific embodiment, in S2, when assembling the ear seat assembly 2, the ear seat side plate 21 is laid flat on the top surface of the second support positioning member 52, the positioning hole 25 of the ear seat side plate 21 is aligned with the positioning hole 25 of the ear seat side plate 21, the first positioning pin 55 is inserted into the aligned positioning hole 25, a line is drawn on the ear seat side plate 21, the stand plate 23 and the rib plate 24 are placed, and spot welding is firm; the ear seat clamping plate 22 is placed above the ear seat side plate 21, the bottom surface of the ear seat side plate 21 is attached to the top surface of the stand plate 23, the positioning hole 25 of the ear seat clamping plate 22 is inserted into the first positioning pin 55, the side surface and the clamping groove 221 are tightly attached to the positioning tube 53, the lower flat surface is attached to the support surface of the second positioning member 54, and after positioning, spot welding is firm. The ear seat side plate 21 is laid flat on the top surface of the second support positioning member 52, and the flatness of the support surface is used to ensure the horizontal posture of the ear seat side plate 21, thereby providing a stable reference for the assembly of subsequent components. The positioning hole 25 of the ear seat side plate 21 is aligned and inserted into the first positioning pin 55, which forcibly locks the coaxiality of the hole position through the cooperation of the pin and the hole, thereby limiting the displacement of the ear seat side plate 21 in the horizontal direction. The stand plate 23 and the rib plate 24 are placed on the ear seat side plate 21 and spot welded after drawing a line, which is based on the precisely positioned ear seat side plate 21, thereby ensuring the relative position accuracy of the stand plate 23 and the rib plate 24 with the ear seat side plate 21, and spot welding preserves the state after positioning through local fixation. When the ear seat clamping plate 22 is placed above the ear seat side plate 21, the bottom surface is attached to the top surface of the stand plate 23 to ensure the vertical alignment of the two, the positioning hole 25 is inserted into the first positioning pin 55 to further consolidate the coaxiality and parallel relationship of the hole position with the ear seat side plate 21, and the side surface and the clamping groove 221 are tightly attached to the positioning tube 53, which simulates the structure of the subsequent steel pipe 11 by means of the positioning tube 53.

[0043] In another specific implementation, in step S3, the two sets of ear-mount assemblies 2 are first placed upright on the connecting seat assembly tooling 6 and positioned accordingly. Then, the support 3 is placed on the connecting seat assembly tooling 6 and positioned against the ear-mount side plate 21 of the ear-mount assembly 2. Finally, the two steel pipes 11 of the connecting component 1 are inserted into the ear-mount retaining plates 221 of the two sets of ear-mount assemblies 2 to complete the positioning. Placing the two sets of ear-mount assemblies 2 upright on the connecting seat assembly tooling 6 and positioning them first can ensure that the two sets of ear-mount assemblies 2 always maintain the preset left-right symmetry and vertical posture with the help of the tooling's limiting structure. This provides a unified and stable benchmark for the subsequent assembly of the support 3 and the connecting component 1, avoiding the symmetry deviation of the overall structure caused by the positional offset of the ear-mount assembly 2, and controlling the overall layout accuracy of the connecting seat from the source. Next, the support 3 is placed on the connecting seat assembly tooling 6 and positioned against the ear seat side plate 21 of the ear seat assembly 2. This allows the support 3 and the ear seat side plate 21 to form a tight positional fit. The precise position of the ear seat side plate 21 serves as a reference to limit the installation orientation of the support 3, preventing the support 3 from shifting forward, backward, or left or right. This ensures the connection stability between the support 3 and the ear seat assembly 2 and also provides a precise installation interface for docking the entire connecting seat with other parts of the robot, avoiding repeated adjustments due to positional deviations of the support 3 during subsequent docking. Finally, the two steel pipes 11 of the connecting assembly 1 are inserted into the slots 221 of the ear seat plate 22 to complete the positioning. The contact and limiting effect between the slots 221 and the outer wall of the steel pipes 11 allows for quick and precise docking of the connecting assembly 1 and the ear seat assembly 2. No additional marking or manual calibration is required, ensuring the coaxiality and perpendicularity of the steel pipes 11 and the ear seat plate 22, reducing the manual alignment operation and error risks.

[0044] In another specific implementation, the connecting seat assembly tooling 6 includes a third base plate 61. The third base plate 61 is provided with a third support positioning member 62 for simultaneously erecting two sets of ear seat assemblies 2. A third positioning member 63 is also provided at the front or rear of the third base plate 61. The third positioning member 63 is provided with a second positioning pin 64, which can pass through the positioning holes 25 of the two sets of ear seat side plates 21 and ear seat retaining plates 22. Fourth support positioning members 65 for placing supports 3 are respectively provided on the left and right sides of the third support positioning member 62. The third base plate 61 provides a stable bearing foundation for the overall assembly, ensuring that the tooling will not shake or shift during operation, and providing a stable platform for the precise functioning of each positioning structure. The third support positioning member 62 is used to simultaneously erect two sets of ear seat assemblies 2. The third positioning member 63 at the front or rear of the third base plate 61 provides a mounting carrier for the second positioning pin 64. The second positioning pin 64 passes through the positioning holes 25 of the two sets of ear seat side plates 21 and ear seat retaining plates 22, which can force the positioning holes 25 of the two sets of ear seats to be coaxial, and at the same time lock the relative positions of the two sets of ear seats in the horizontal direction. The fourth support positioning members 65 on the left and right sides are specifically used to place the support 3. Their positions correspond one-to-one with the ear seat side plates 21 of the two sets of ear seat assemblies 2, which can provide a horizontal and stable placement reference for the support 3, allowing the support 3 to be naturally in the preset position that fits against the ear seat side plates 21. The second positioning pin 64 on the third support positioning member 62 can be a single piece that passes through both sets of ear seat assemblies 2 at the same time, or it can be two separate pieces that pass through the two sets of ear seat assemblies 2 respectively.

[0045] In another specific implementation, in S3, the two sets of ear seat assemblies 2 are symmetrically placed on both sides of the third support positioning member 62 in an upright position, with the slots 221 of the ear seat assembly 2 facing upwards, and the outer side of the ear seat side plate 21 fitting against the inner side of the fourth support positioning member 65; the second positioning shaft passes through the positioning holes 25 of the two sets of ear seat assemblies 2. The ear seat assembly 2 is symmetrically positioned on both sides of the third support positioning member 62 in an upright posture, with the two sides of the third support positioning member 62 providing limiting position. The slot 221 of the ear seat assembly 2 faces upward, which can reserve docking space for the steel pipe 11 of the connecting assembly 1 in advance, so that the slot 221 is in a posture that facilitates the insertion of the steel pipe 11. The outer side of the ear seat side plate 21 is in contact with the inner side of the fourth support positioning member 65. The rigid limiting position of the fourth support positioning member 65 further locks the lateral position of the ear seat assembly 2. At the same time, with the fourth support positioning member 65 as a reference, it is ensured that the outer side of the ear seat side plate 21 is in a preset plane, providing a flat and stable docking surface for the subsequent fitting and positioning of the support 3 and the ear seat side plate 21. The second positioning shaft passes through the positioning holes 25 of the two sets of ear seat assemblies 2, which can force the positioning holes 25 of the two sets of ear seats to be coaxial, lock the relative position of the two from the axial direction, and limit the displacement in the front and rear directions.

[0046] As another specific embodiment, in S3, the support 3 corresponds to the top surface of the fourth support positioning member 65, the inner side wall of the support 3 is attached to the outer side wall of the ear seat side plate 21 of the ear seat assembly 2, and the bottom surface of the support 3 is attached to the top surface of the fourth support positioning member 65. The flat surface of the fourth support positioning member 65 can ensure that the support 3 is always in a horizontal posture, avoiding the occurrence of height difference of the support 3 due to the inclination of the placement surface. The inner side wall of the support 3 is attached to the outer side wall of the ear seat side plate 21 of the ear seat assembly 2, which binds the transverse position of the support 3 with the precisely positioned ear seat side plate 21, limiting the displacement of the support 3 in the left and right directions.

[0047] The above is only the preferred embodiment of the present application, and is not used to limit the present application, and the present application extends to any new features disclosed in the specification or any new combination, and any modification, equivalent replacement and improvement within the spirit and principle of the present application, etc. should be included in the protection scope of the present application. It is obvious for those skilled in the art that the present application is not limited to the details of the above exemplary embodiments, and the details of the technical features not disclosed in the present embodiment, such as specific structure, are all prior art, and those skilled in the art can obtain them from the prior art; the connection mode can be fixed connection, detachable connection, or integral; it can be fixed connection, movable connection or hinged connection, it can be directly connected or indirectly connected through an intermediate medium; for those skilled in the art, the specific mode of the above terms in the embodiments of the present application can be understood according to the specific situation, and the embodiments of the present disclosure do not make specific limitations on this.

Claims

1. A method of positioning a rig floor manipulator adapter set, comprising: The method comprises the following steps: S1, connecting the rig manipulator connecting seat into a connecting assembly (1), an ear seat assembly (2) and a support (3); S2, assembling the connecting assembly (1) by a connecting assembly group tool (4) and assembling the ear seat assembly (2) by an ear seat group tool (5); S3, assembling the connecting assembly (1), the ear seat assembly (2) and the support (3) as a whole by a connecting seat group tool (6).

2. The rig floor manipulator socket positioning pair method of claim 1, wherein: The connecting assembly (1) comprises two steel pipes (11) arranged in parallel and connected by a connecting bottom plate (12), and a plurality of connecting plates (13) are further arranged between the two steel pipes (11); The ear seat assembly (2) comprises an ear seat side plate (21) and an ear seat clamping plate (22) arranged in parallel, the ear seat side plate (21) and the ear seat clamping plate (22) are connected by a vertical plate (23), the ear seat side plate (21) is longer than the ear seat clamping plate (22), at least one rib plate (24) is arranged on the part of the ear seat side plate (21) which is longer than the ear seat clamping plate (22), a plurality of positioning holes (25) are arranged on the ear seat side plate (21) and the ear seat clamping plate (22) correspondingly, and a clamping groove (221) corresponding to the top end of the steel pipe (11) is arranged at the bottom of the ear seat clamping plate (22); The rig manipulator connecting seat comprises two groups of symmetrically arranged ear seat assemblies (2), the ear seat clamping plates (22) of the two groups of ear seat assemblies (2) are arranged oppositely, the connecting assembly (1) is arranged on the front side of the ear seat assembly (2), and the two steel pipes (11) are clamped on the clamping grooves (221) of the two ear seat clamping plates (22) respectively. The side of each ear seat side plate (21) away from the other ear seat side plate (21) is connected with the support (3).

3. The rig floor manipulator socket positioning pair method of claim 2, wherein: The connecting assembly group tool (4) comprises a first bottom plate (41), a first supporting positioning member (42) for placing the connecting assembly (1) is arranged on the first bottom plate (41), a recess (421) for placing the connecting assembly (1) is arranged above the first supporting positioning member (42), the two ends of the recess (421) are arc-shaped, and a first positioning member (43) is further arranged on the front and / or rear part of the first bottom plate (41).

4. The rig floor manipulator socket positioning pair method of claim 3, wherein: In S2, when the connecting assembly (1) is assembled, the two steel pipes (11) are arranged in parallel in the recess (421), the outer sides of the steel pipes (11) are respectively attached to the arc-shaped walls of the recess (421); the connecting bottom plate (12) is arranged on the top surface of the first supporting positioning member (42), the bottom surface of the connecting bottom plate (12) is attached to the top surface of the recess (421), the front and / or rear end part of the connecting bottom plate (12) is attached to the side surface of the first positioning member (43), and after positioning, the connecting bottom plate (12) and the steel pipes (11) are respectively spot-welded firmly; then a plurality of connecting plates (13) are assembled by marking and spot-welded firmly.

5. The rig floor manipulator socket positioning pair method of claim 2, wherein: The ear seat group matching tool (5) comprises a second bottom plate (51), the second bottom plate (51) is provided with a second supporting positioning part (52) for placing the ear seat clamping plate (22) horizontally, and the second supporting positioning part (52) is provided with a positioning pipe (53) which is the same in structure as the steel pipe (11); the front part and the rear part of the second bottom plate (51) are further provided with a second positioning part (54), the second positioning part (54) is provided with a first positioning pin (55), and the first positioning pin (55) can be arranged in the positioning hole (25) of the ear seat side plate (21) and the ear seat clamping plate (22).

6. The rig floor manipulator socket positioning pair method of claim 5, wherein: In S2, when the ear seat assembly (2) is assembled, the ear seat side plate (21) is placed horizontally on the top surface of the second supporting positioning part (52), the positioning hole (25) of the ear seat side plate (21) is aligned with the positioning hole (25) of the ear seat side plate (21), the first positioning pin (55) is arranged in the aligned positioning hole (25), and then the ear seat side plate (21) is marked, the stand plate (23) and the rib plate (24) are placed, and spot welding is firm; then the ear seat clamping plate (22) is placed above the ear seat side plate (21), the bottom surface of the ear seat side plate (21) is attached to the top surface of the stand plate (23), the positioning hole (25) of the ear seat clamping plate (22) is arranged in the first positioning pin (55), the side surface and the clamping groove (221) are attached to the positioning pipe (53), the lower plane is attached to the supporting surface of the second positioning part (54), and then spot welding is firm after positioning.

7. The rig floor manipulator socket positioning pair method of claim 2, wherein: In S3, two groups of ear seat assemblies (2) are correspondingly placed in a standing position on the connecting seat group matching tool (6) and are positioned, the support (3) is correspondingly placed on the connecting seat group matching tool (6) and is attached to and positioned with the ear seat side plate (21) of the ear seat assembly (2), and finally the two steel pipes (11) of the connecting assembly (1) are correspondingly clamped into the clamping grooves (221) of the ear seat clamping plates (22) of the two groups of ear seat assemblies (2) to complete positioning.

8. The rig floor manipulator socket positioning pair method of claim 7, wherein: The connecting seat group matching tool (6) comprises a third bottom plate (61), the third bottom plate (61) is provided with a third supporting positioning part (62) for simultaneously standing two groups of ear seat assemblies (2), the front part or the rear part of the third bottom plate (61) is further provided with a third positioning part (63), the third positioning part (63) is provided with a second positioning pin (64), the second positioning pin (64) can be arranged in the positioning hole (25) of the two groups of ear seat side plates (21) and the ear seat clamping plates (22), and the left side and the right side of the third supporting positioning part (62) are respectively provided with a fourth supporting positioning part (65) for placing the support (3).

9. The rig floor manipulator socket positioning pair method of claim 8, wherein: In S3, the two groups of ear seat assemblies (2) are symmetrically placed on the two sides of the third supporting positioning part (62) in a standing position, the clamping grooves (221) of the ear seat assemblies (2) face upwards, the outer side surface of the ear seat side plate (21) is attached to the inner side surface of the fourth supporting positioning part (65), and the second positioning shaft is arranged in the positioning hole (25) of the two groups of ear seat assemblies (2).

10. The rig floor manipulator socket positioning pair method of claim 8, wherein: In S3, the support (3) is correspondingly placed on the top surface of the fourth supporting positioning part (65), the inner side wall of the support (3) is attached to the outer side wall of the ear seat side plate (21) of the ear seat assembly (2), and the bottom surface of the support (3) is attached to the top surface of the fourth supporting positioning part (65).

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