Truss carrying manipulator based on intelligent oil casing pipe machining and operation method

Abstract

The invention discloses a truss carrying manipulator based on intelligent oil casing machining and an operation method, and relates to the technical field of oil casing transportation, the truss carrying manipulator comprises a carrying main body and a truss, the center of the top of the carrying main body is rotatably connected with a connecting shaft, and the bottom of the connecting shaft is fixedly connected with a cross shaft; and the bottom of the cross shaft is fixedly connected with a mounting disc. The two first electric control telescopic rods arranged at the end, away from the V-shaped hook, of the bottom of the lifting appliance are started, so that the arc-shaped blocks arranged at the output ends of the two first electric control telescopic rods continuously move downwards until the arc-shaped blocks make contact with the oil casing in the V-shaped hook, and the oil casing is fixed; and the problems that in the using process of a traditional intelligent truss carrying manipulator for oil sleeve machining, due to the fact that a carrying device inclines, a lifting appliance cannot stably lift the oil sleeve, then the oil sleeve slips in the lifting appliance and deviates from the center position of the lifting appliance, and the oil sleeve falls off are further solved.

Description

Technical Field

[0001] This invention relates to the field of oil casing transportation technology, specifically to an intelligent gantry handling robot for oil casing processing and its operating method. Background Technology

[0002] In the field of oil and gas extraction and processing, casing and tubing are core components in the construction and production of oil and gas wells. They play a crucial role in fixing the wellbore and ensuring the stability of the oil and gas transportation channel. Their processing quality and handling safety directly affect the efficiency and safety of the entire oil and gas extraction project. As casing and tubing processing develops towards intelligence and large scale, gantry lifting and handling systems have become core handling equipment in production lines due to their wide operating range and high degree of automation. They have replaced manual labor, improved efficiency, and reduced safety risks. The existing truss lifting equipment handling system consists of a truss body, lifting equipment, drive mechanism and transportation device. However, it has prominent defects in long-term use: the truss lifting equipment is subjected to the load of the oil casing for a long time. In addition, the frequent start-stop vibration is prone to structural wear and deformation, which causes the lifting equipment to tilt, destroys the alignment accuracy and makes it impossible to lift smoothly. The supporting transportation device (such as forklift, flatbed truck, conveyor, etc.) is loose, the roller is worn or the foundation is settled, which will cause the oil casing to be placed tilted or displaced, further aggravating the instability of lifting.

[0003] The existing technology has the following problems: 1. During use, the existing intelligent truss handling robot for oil casing processing has a problem where the lifting device tilts, causing the lifting device to be unable to lift the oil casing smoothly. This leads to the oil casing slipping inside the lifting device, deviating from the center position of the lifting device, and thus causing the oil casing to fall off. 2. During the use of existing intelligent gantry handling robots for oil casing processing, the foundation on which the device is located is prone to sinking when handling oil casing. Over time, this causes the entire machine to tilt, resulting in severe wear on the rigid crane's robotic arm. Summary of the Invention

[0004] This invention provides an intelligent gantry handling robot for oil casing processing and its operation method to solve the problems mentioned in the background art.

[0005] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows: A truss handling robot for intelligent oil casing processing includes a handling body and a truss. A connecting shaft is rotatably connected to the center of the top of the handling body, and a cross shaft is fixedly connected to the bottom of the connecting shaft. A mounting plate is fixedly connected to the bottom of the cross shaft. A connecting plate is rotatably connected to the outer wall of the mounting plate, and a lifting device is fixedly connected to the bottom of the connecting plate. Several V-hooks are fixedly connected to one end of the bottom of the lifting device. Two symmetrical first electrically controlled telescopic rods are fixedly connected to the bottom of the lifting device away from the V-hooks. An arc-shaped block is fixedly connected to the output end of the two first electrically controlled telescopic rods. A detection component is set at the center of the inner cavity of the lifting device. One end of the top of the truss is rotatably connected to a first electrically controlled lead screw, and the end of the top of the truss away from the first electrically controlled lead screw is fixedly connected to a first limiting rod. A movable platform is threadedly connected to the outer wall of the first electrically controlled lead screw, and the bottom end of the movable platform away from the first electrically controlled lead screw is slidably connected to the outer wall of the first limiting rod. One end of the inner wall of the movable platform is rotatably connected to a second electrically controlled lead screw, and the end of the inner wall of the movable platform away from the second electrically controlled lead screw is fixedly connected to a second limiting rod. A control console is slidably connected to the inner wall of the movable platform, and one end of the inner cavity of the control console is threadedly connected to the outer wall of the second electrically controlled lead screw, while the end of the inner cavity of the control console away from the second electrically controlled lead screw is slidably connected to the outer wall of the second limiting rod. An adjustment component is provided on the inner wall of the control console.

[0006] A further improvement of the technical solution of the present invention is that: the detection component includes a cavity opened at the center of the inner cavity of the lifting device, and a detection chamber is fixedly connected at the center of the top of the inner wall of the cavity. A groove is opened at the center of the top of the inner wall of the detection chamber, and an annular receiver is fixedly connected at the end of the top of the inner wall of the detection chamber near the groove. An electrically controlled telescopic platform is fixedly connected between the outer wall of the detection chamber and the inner wall of the cavity.

[0007] A further improvement of the technical solution of the present invention is that: the output end of the electronically controlled telescopic platform is fixedly connected to a support plate, and the top of the support plate is fixedly connected to a plurality of mutually symmetrical extension rods, the outer walls of the plurality of extension rods penetrate and are slidably connected to the inner wall of the detection chamber, and the ends of the plurality of extension rods are fixedly connected to annular electrodes.

[0008] A further improvement of the technical solution of the present invention is that: a number of mutually symmetrical second electrically controlled telescopic rods are fixedly connected to the four corners of the bottom of the transport body, and the output ends of the number of second electrically controlled telescopic rods are fixedly connected to contact blocks, and the bottom of the contact blocks contacts the top of the connecting plate.

[0009] A further improvement of the technical solution of the present invention is that: the adjustment component includes a support shaft rotatably connected to the center of the inner cavity of the control console, and a support platform is fixedly connected to the center of the outer wall of the support shaft, while limit posts are fixedly connected to both sides of the outer wall of the support platform. Limit grooves are opened on both sides of the inner wall of the control console near the support shaft, and the inner wall of the limit groove is slidably connected to the outer wall of the limit post. Electric push rods are fixedly connected to both ends of the inner wall of the control console away from the support shaft, and anti-slip plates are fixedly connected to the output end of the electric push rods, while the outer wall of the anti-slip plates is in contact with the outer wall of the support platform.

[0010] A further improvement of the technical solution of the present invention is that: both ends of the outer wall of the bearing platform are fixedly connected to limit boxes, and the inner walls of the two limit boxes are slidably connected to rigid arms, and the bottom of the two rigid arms are fixedly connected to both ends of the top of the transport body, and anti-collision blocks are fixedly connected to the bottom of one side of the outer wall of the two rigid arms.

[0011] A further improvement of the technical solution of the present invention is that: a linkage gear ring is rotatably connected to one end of the inner wall of the limiting box, and a lead screw nut is fixedly connected to the inner wall of the linkage gear ring; a transmission lead screw is threadedly connected to the inner wall of the lead screw nut, and the end of the transmission lead screw is rotatably connected to the inner cavity of the rigid arm.

[0012] A further improvement of the technical solution of the present invention is that: one end of the outer wall of the linkage gear ring is engaged with a guide gear rod, and the outer wall of the guide gear rod is rotatably connected to the inner wall of the limiting box; one end of the inner wall of the limiting box near the guide gear rod is rotatably connected with a transmission gear rod, and the outer wall of the transmission gear rod is engaged with the outer wall of the guide gear rod; a worm gear is fixedly connected to the bottom of the transmission gear rod, and the bottom of the worm gear is rotatably connected to the bottom of the inner wall of the limiting box.

[0013] A further improvement of the technical solution of the present invention is that: a double-headed motor is fixedly connected to the center of the inner cavity of the bearing platform, and a transmission rod is fixedly connected to the output end of the double-headed motor. The outer wall of the transmission rod penetrates and is rotatably connected to the inner cavity of the bearing platform. A worm is fixedly connected to the end of the transmission rod, and the end of the worm is rotatably connected to the bottom of the inner wall of the limiting box. One end of the outer wall of the worm meshes with the outer wall of the worm wheel.

[0014] An operation method based on an intelligent gantry handling robot for oil casing processing is disclosed. The method employs the aforementioned intelligent gantry handling robot for oil casing processing, and is as follows: S1: By setting a first electric control screw and a first limit rod at both ends of the top of the truss, the first electric control screw and the first limit rod are used to control the lateral movement of the moving platform. By setting a second electric control screw and a second limit rod at both ends of the inner wall of the moving platform, the second electric control screw and the second limit rod are used to make the control console move longitudinally. By setting a support shaft on the inner wall of the control console, the support shaft is used to support the bearing platform set on its outer wall. The double-head motor set in the inner cavity of the bearing platform is started, so that the rigid arm drives the transport body, connecting plate, lifting tool and V-hook set at its bottom to approach the oil casing and make the oil casing and the oil casing and the V-hook are in the inner wall of the V-hook. The first electric control telescopic rod is started, so that the arc block set at its output end fixes the oil casing and the V-hook. Then, the detection component set at the center of the inner cavity of the lifting tool is used to keep the connecting plate and the lifting tool horizontal. Then, the first electric control screw and the second electric control screw are started to realize the transport of the oil casing and the oil casing. S2: The detection component has a cavity set in the center of the inner cavity of the lifting device, and a detection chamber set in the center of the top of the inner wall of the cavity. Since the detection chamber is filled with insulating liquid and a groove is set in the center of the top of the inner wall of the detection chamber, there are suspended air bubbles in the groove. When the lifting device lifts the oil casing, the electric control telescopic platform set between the outer wall of the detection chamber and the inner wall of the cavity is activated, so that the support plate set at its output end drives several mutually symmetrical extension rods and the annular electrodes set at their ends to move upward continuously. Since the annular electrodes are always in a discharge state, when the lifting device tilts, the suspended air bubbles leave the groove and move between the annular electrodes and the annular receiver. At this time, the current released by the annular electrodes passes through the suspended air bubbles and is received by the annular receiver, and controls the second electric control telescopic rod at the corresponding position to squeeze the connecting plate, so as to keep the oil casing in the V-hook horizontal. S3: By setting electric push rods at both ends of the inner wall of the control console away from the support shaft, and setting anti-slip plates at the output ends of the electric push rods, when the carrier is in standby mode, the electric push rods control the anti-slip plates to disengage from the carrier, so that the carrier automatically maintains verticality under the influence of gravity. When the carrier is about to start working, the electric push rods push the anti-slip plates, so that the anti-slip surface of the anti-slip plates contacts the surface of the carrier and clamps and fixes the carrier.

[0015] Due to the adoption of the above technical solution, the technical progress achieved by this invention compared to the prior art is as follows: 1. This invention provides an intelligent truss handling robot for oil casing processing and its operating method. By activating two first electrically controlled telescopic rods located at the bottom of the lifting device away from the V-hook, the arc-shaped blocks at the output ends of the two first electrically controlled telescopic rods continuously move downwards until they contact the oil casing inside the V-hook, thus fixing the oil casing. Subsequently, the oil casing is transported through the cooperation between the first and second electrically controlled lead screws. This further solves the problem that in the traditional intelligent truss handling robot for oil casing processing, the lifting device is tilted during use, causing the lifting device to be unable to lift the oil casing smoothly, which in turn causes the oil casing to slip inside the lifting device, deviate from the center position of the lifting device, and thus cause the oil casing to fall off.

[0016] 2. This invention provides an intelligent truss handling robot for oil casing processing and its operating method. By installing electrically controlled push rods at both ends of the inner wall of the control console away from the support shaft, and installing anti-slip plates at the output ends of the push rods, when the platform is in standby mode, the push rods control the anti-slip plates to disengage from the platform, allowing the platform to automatically maintain verticality under gravity. When the platform is about to begin operation, the push rods push the anti-slip plates, causing the anti-slip surface of the plates to contact the surface of the platform and clamp and fix it. This further solves the problem that traditional intelligent truss handling robots for oil casing processing are prone to causing the foundation to sink during oil casing handling, eventually leading to the entire machine tilting and causing severe wear on the rigid crane's robotic arm. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a schematic diagram of the console structure of the present invention; Figure 3 This is a schematic diagram of the connecting plate structure of the present invention; Figure 4 This is a schematic diagram of the cross-sectional structure of the lifting device of the present invention; Figure 5 This is a schematic diagram of the disassembled cross shaft structure of the present invention; Figure 6 This is a schematic diagram of the cross-sectional structure of the detection chamber of the present invention; Figure 7 This is a schematic diagram of the electronically controlled push rod extension structure of the present invention; Figure 8 This is a schematic diagram of the cross-sectional structure of the console of the present invention; Figure 9 This is a schematic diagram of the cross-sectional structure of the support platform of the present invention; Figure 10 This is a schematic diagram of the disassembly structure of the limiting box of the present invention.

[0018] In the diagram: 1. Main transport unit; 2. Truss; 3. Connecting shaft; 4. Cross shaft; 5. Mounting plate; 6. Connecting plate; 7. Lifting device; 8. V-hook; 9. First electrically controlled telescopic rod; 10. Arc block; 11. First electrically controlled lead screw; 12. First limit rod; 13. Moving platform; 14. Second electrically controlled lead screw; 15. Second limit rod; 16. Control console; 17. Cavity; 18. Detection chamber; 19. Ring receiver; 20. Electrically controlled telescopic platform; 21. Support plate; 2. Extension rod; 23. Ring electrode; 24. Second electrically controlled telescopic rod; 25. Contact block; 26. Support shaft; 27. Bearing platform; 28. Limiting post; 29. ​​Limiting groove; 30. Electrically controlled push rod; 31. Anti-slip plate; 32. Limiting box; 33. Rigid arm; 34. Linkage gear ring; 35. Lead screw nut; 36. Transmission lead screw; 37. Guide gear rod; 38. Transmission gear rod; 39. Worm gear; 40. Dual-head motor; 41. Transmission rod; 42. Worm gear. Detailed Implementation

[0019] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below in conjunction with specific embodiments.

[0020] like Figures 1 to 10As shown in the embodiment of the present invention, a truss-based handling robot for oil casing processing includes a handling body 1 and a truss 2. A connecting shaft 3 is rotatably connected to the center of the top of the handling body 1, and a cross shaft 4 is fixedly connected to the bottom of the connecting shaft 3. A mounting plate 5 is fixedly connected to the bottom of the cross shaft 4. A connecting plate 6 is rotatably connected to the outer wall of the mounting plate 5, and a lifting device 7 is fixedly connected to the bottom of the connecting plate 6. Several V-hooks 8 are fixedly connected to one end of the bottom of the lifting device 7. Two mutually symmetrical first electrically controlled telescopic rods 9 are fixedly connected to the bottom of the lifting device 7 away from the V-hooks 8. An arc-shaped block 10 is fixedly connected to the output end, and a detection component is set at the center of the inner cavity of the lifting device 7. A first electrically controlled lead screw 11 is rotatably connected to one end of the top of the truss 2, and a first limiting rod 12 is fixedly connected to the end of the top of the truss 2 away from the first electrically controlled lead screw 11. A moving platform 13 is threadedly connected to the outer wall of the first electrically controlled lead screw 11, and the bottom end of the moving platform 13 away from the first electrically controlled lead screw 11 is slidably connected to the outer wall of the first limiting rod 12. A second electrically controlled lead screw 14 is rotatably connected to one end of the inner wall of the moving platform 13, and a second limiting rod 15 is fixedly connected to the end of the inner wall of the moving platform 13 away from the second electrically controlled lead screw 14. A control console 16 is slidably connected to the inner wall of the moving platform 13. One end of the inner cavity of the control console 16 is threadedly connected to the outer wall of the second electric control screw 14, while the end of the inner cavity of the control console 16 away from the second electric control screw 14 is slidably connected to the outer wall of the second limit rod 15. An adjustment assembly is provided on the inner wall of the control console 16. The detection assembly includes a cavity 17 opened at the center of the inner cavity of the lifting device 7, and a detection chamber 18 is fixedly connected to the center of the top of the inner wall of the cavity 17. A groove is opened at the center of the top of the inner wall of the detection chamber 18, and an annular receiver 19 is fixedly connected to the end of the top of the inner wall of the detection chamber 18 near the groove. An electrically controlled telescopic platform 20 is fixedly connected between the outer wall and the inner wall of the cavity 17. The output end of the electrically controlled telescopic platform 20 is fixedly connected to a support plate 21, and the top of the support plate 21 is fixedly connected to several mutually symmetrical extension rods 22. The outer walls of the extension rods 22 penetrate and are slidably connected to the inner wall of the detection chamber 18. The ends of the extension rods 22 are fixedly connected to annular electrodes 23. Several mutually symmetrical second electrically controlled telescopic rods 24 are fixedly connected to the four corners of the bottom of the transport body 1, and the output ends of the second electrically controlled telescopic rods 24 are fixedly connected to contact blocks 25. The bottom of the contact blocks 25 contacts the top of the connecting plate 6.

[0021] During operation, a first electrically controlled lead screw 11 (all electrically controlled lead screws mentioned in this text consist of a motor and a lead screw, and belong to existing technology) and a first limiting rod 12 are respectively set at both ends of the top of the truss 2. Activating the first electrically controlled lead screw 11 controls the moving platform 13 on its outer wall to move laterally along the trajectory of the first limiting rod 12. A second electrically controlled lead screw 14 and a second limiting rod 15 are respectively set at both ends of the inner wall of the moving platform 13. Activating the second electrically controlled lead screw 14 controls the control console 16 on the inner wall of the moving platform 13 to move longitudinally along the trajectory of the second limiting rod 15. When the forklift moves the oil casing (here, the oil casing is assembled from a casing and an oil pipe, and belongs to existing technology) to a suitable position, the cooperation between the first electrically controlled lead screw 11 and the second electrically controlled lead screw 14 moves the control console 16 to the suitable position. A support shaft 26 is set at the center of the inner cavity of the control console 16, and a support shaft... A support platform 27 is provided at the center of the outer wall of the 26. The double-head motor 40 provided at the center of the inner cavity of the support platform 27 is started, thereby controlling the rigid arms 33 provided at both ends to drive the transport body 1 to move downward and gradually approach the oil casing. A connecting shaft 3 is provided at the center of the top of the transport body 1, and a cross shaft 4 is provided at the bottom of the connecting shaft 3. A mounting plate 5 is provided at the bottom of the cross shaft 4, and a connecting plate 6 is provided on the outer wall of the mounting plate 5. The lifting device 7 provided at the bottom of the connecting plate 6 approaches the oil casing under the traction of the first electric control screw 11 and the second electric control screw 14. A V-hook 8 is provided at one end of the bottom of the lifting device 7, so that the V-hook 8 moves to the bottom of the oil casing. Then, the rigid arm 33 pulls the transport body 1, so that the V-hook 8 lifts the bottom of the oil casing and removes the oil casing from the forklift. Then, under the traction of the first electric control screw 11 and the second electric control screw 14, the transport of the oil casing is realized. It should be further explained that, due to the long-term use of transport devices such as forklifts and flatbed trucks, the supporting components are prone to tilting, causing the oil casing placed on their surface to tilt as well. To prevent the outer wall of the oil casing from rubbing against the surface of the V-hook 8 under the influence of the oil casing's own weight when lifting it, several symmetrical second electrically controlled telescopic rods 24 are installed at the four corners of the bottom of the transport body 1. Using an industrial camera (here, the industrial camera acquires images and extracts the edge images of the oil casing to obtain two clear straight edges of the oil casing, which are then processed by a program to obtain the tilt direction and tilt angle of the oil casing, which is existing technology), the second electrically controlled telescopic rods 24 installed at the same end are activated according to the tilt position of the oil casing. 4. The contact block 25 at the output end of the second electrically controlled telescopic rod 24 presses against the top of the connecting plate 6. Since the transport body 1 and the connecting plate 6 are connected by a cross shaft 4, when the connecting plate 6 shifts, the cross shaft 4 adjusts adaptively to keep the transport body 1 horizontal, while the connecting plate 6 and the lifting device 7 tilt. When the V-hook 8 at the bottom of the lifting device 7 moves to the bottom of the oil casing, the rigid arm 33 drives the transport body 1, the connecting plate 6, and the lifting device 7 to slowly move upward, so that the surface of the V-hook 8 fits against the bottom of the oil casing. When the V-hook 8 is about to lift the oil casing, the second electrically controlled telescopic rod 24 pressing against the top of one end of the connecting plate 6 slowly retracts until the oil casing is removed from the forklift. At the same time, a cavity 17 is set in the center of the inner cavity of the lifting device 7. A detection chamber 18 is set at the center of the top of the inner wall of the cavity 17. The detection chamber 18 is filled with an insulating liquid (silicone oil), and a groove is set at the center of the top of the inner wall of the detection chamber 18, containing suspended air bubbles. When the electrically controlled telescopic platform 20, located between the outer wall of the detection chamber 18 and the inner wall of the cavity 17, is activated, the support plate 21 at the output end of the platform 20 drives several symmetrically arranged extension rods 22 at its top to move. Since the outer wall of the extension rod 22 penetrates the inner wall of the detection chamber 18, and the penetration is sealed, the extension rod 22 drives the annular electrode 23 at its end to move to a position near the top of the inner wall of the detection chamber 18 and stops. This is achieved by... A ring receiver 19 is installed at the end, so that when the entire lifting device 7 tilts, the suspended bubble in the groove moves away from the tilted end under the influence of buoyancy (the suspended bubble moves upward in the detection chamber 18), exposing the top of the ring electrode 23 in the suspended bubble. At this time, the ring electrode 23 releases current (the ring electrode 23 continuously releases current, but due to the isolation of silicone oil, the current cannot be received by the ring receiver 19. When the suspended bubble moves between the ring electrode 23 and the ring receiver 19, the suspended bubble isolates the silicone oil, allowing the current to pass through the bubble and be received by the ring receiver 19). The received current signal is used to control the extension of the second electrically controlled telescopic rod 24 at the corresponding position.The contact block 25 at its output end limits the top of the connecting plate 6. The above-mentioned current signal reception is repeated, and the operation of the second electrically controlled telescopic rod 24 is activated until the suspended bubble returns to the groove. At this time, the connecting plate 6, the lifting device 7, the V-hook 8, and the oil casing are in a horizontal state. By activating the two first electrically controlled telescopic rods 9 located at the bottom of the lifting device 7 away from the V-hook 8, the arc-shaped blocks 10 at the output ends of the two first electrically controlled telescopic rods 9 continuously move downwards until they contact the oil casing inside the V-hook 8, thus fixing the oil casing. Subsequently, through the cooperation between the first electrically controlled lead screw 11 and the second electrically controlled lead screw 14, the oil casing is transported. This further solves the problem that in the traditional intelligent oil casing processing truss 2 handling robot, during use, the lifting device tilts, causing the lifting device 7 to be unable to lift the oil casing smoothly, leading to the oil casing slipping inside the lifting device 7, deviating from the center position of the lifting device 7, and thus causing the oil casing to fall off. It should be reiterated that when the first electric control screw 11 and the second electric control screw 14 move the transport body 1 and the oil casing, the electric control telescopic table 20 is activated again to move the extension rod 22 and the annular electrode 23 to the bottom of the inner wall of the detection chamber 18. This prevents the lifting device 7 from shifting due to inertia during movement, which could cause the suspended air bubbles in the groove to detach from the groove, resulting in the current released by the annular electrode 23 accidentally touching the annular receiver 19, causing the lifting device 7 and the oil casing to tilt.

[0022] The adjustment assembly includes a support shaft 26 rotatably connected to the center of the inner cavity of the control console 16, and a bearing platform 27 fixedly connected to the center of the outer wall of the support shaft 26. Limiting posts 28 are fixedly connected to both sides of the outer wall of the bearing platform 27. Limiting grooves 29 are formed on both sides of the inner wall of the control console 16 near the support shaft 26, and the inner wall of the limiting groove 29 is slidably connected to the outer wall of the limiting post 28. Electrically controlled push rods 30 are fixedly connected to both ends of the inner wall of the control console 16 away from the support shaft 26, and the output end of the electrically controlled push rod 30 is fixedly connected to the support shaft 26. A fixed anti-slip plate 31 is connected, and the outer wall of the anti-slip plate 31 contacts the outer wall of the support platform 27. Limit boxes 32 are fixedly connected to both ends of the outer wall of the support platform 27, and rigid arms 33 are slidably connected to the inner walls of the two limit boxes 32. The bottom of the two rigid arms 33 is fixedly connected to both ends of the top of the transport body 1. Anti-collision blocks are fixedly connected to the bottom of one side of the outer wall of the two rigid arms 33. A linkage gear ring 34 is rotatably connected to one end of the inner wall of the limit box 32, and a lead screw nut is fixedly connected to the inner wall of the linkage gear ring 34. 35. A transmission screw 36 is threadedly connected to the inner wall of the lead screw nut 35, and the end of the transmission screw 36 is rotatably connected to the inner cavity of the rigid arm 33. One end of the outer wall of the linkage gear ring 34 is meshed with a guide gear rod 37, and the outer wall of the guide gear rod 37 is rotatably connected to the inner wall of the limiting box 32. A transmission gear rod 38 is rotatably connected to the end of the inner wall of the limiting box 32 near the guide gear rod 37, and the outer wall of the transmission gear rod 38 meshes with the outer wall of the guide gear rod 37. The bottom of the transmission gear rod 38 is fixed. A worm gear 39 is fixedly connected, and the bottom of the worm gear 39 is rotatably connected to the bottom of the inner wall of the limiting box 32. A double-headed motor 40 is fixedly connected to the center of the inner cavity of the bearing platform 27, and a transmission rod 41 is fixedly connected to the output end of the double-headed motor 40. The outer wall of the transmission rod 41 penetrates and is rotatably connected to the inner cavity of the bearing platform 27. A worm 42 is fixedly connected to the end of the transmission rod 41, and the end of the worm 42 is rotatably connected to the bottom of the inner wall of the limiting box 32. One end of the outer wall of the worm 42 meshes with the outer wall of the worm gear 39.

[0023] During operation, a support shaft 26 is positioned at the center of the inner cavity of the control console 16, supporting the bearing platform 27 at the center of its outer wall. Limiting boxes 32 are installed at both ends of the outer wall of the bearing platform 27, limiting the rigid arms 33 on their inner walls. A linkage gear ring 34 is installed at one end of the inner wall of the limiting box 32, and a lead screw nut 35 is installed on the inner wall of the linkage gear ring 34. By activating the double-headed motor 40 (a type of motor with transmission outputs at both ends, existing technology) located at the center of the inner cavity of the bearing platform 27, the two ends of the double-headed motor 40 drive the transmission rod 41. Using the inner cavity of the bearing platform 27 as a fulcrum, this drives the worm gear 42 at the end of the transmission rod 41 to rotate. The rotation occurs as the bottom of the inner wall of the limiting box 32 moves away from the linkage gear ring 34. A worm gear 39 is provided at one end, so that the outer wall of the worm 42 drives the worm gear 39 to rotate. A transmission gear rod 38 (the gear rods mentioned in the text are all composed of gears and connecting rods, which belong to the prior art) is provided at the top of the inner wall of the limit box 32 and between the transmission gear rod 38 and the linkage gear ring 34. The transmission gear rod 38 drives the linkage gear ring 34 to rotate through the guide gear rod 37. Since the inner cavity of the rigid arm 33 is provided with a transmission screw 36, and the outer wall of the transmission screw 36 meshes with the inner wall of the screw nut 35, the rigid arm 33 can be raised and lowered by the double-head motor 40. By providing a collision protection block on one side of the outer wall of the rigid arm 33, the collision between the rigid arm 33 and the bottom of the support platform 27 is avoided when the rigid arm 33 drives the transport body 1 to the top. It should be reiterated that, due to the long-term load of the oil casing on the lifting device 7, coupled with frequent start-stop vibrations, structural wear, deformation, and foundation settlement are prone to occur, which can cause the lifting device 7 to tilt. When the control console 16 tilts due to the above-mentioned effects, since the support shaft 26 connects the support platform 27 and the control console 16, under the influence of the pendulum effect, the support shaft 26 rotates slightly within the cavity of the control console 16, keeping the support platform 27 and the rigid arm 33 horizontal and vertical. Since the inner wall of the control console 16 is provided with limit grooves 29 on both sides near the support shaft 26, the limit posts 28 provided on both sides of the outer wall of the support platform 27 are used to limit the rotation angle of the support platform 27 within the limit grooves 29. To prevent the support platform 27 from swinging due to inertia when the control console 16 moves the support platform 27 and the oil casing, By setting electrically controlled push rods 30 (composed of a motor and a telescopic rod, which is existing technology) at both ends of the inner wall of the control console 16 away from the support shaft 26, and setting anti-slip plates 31 at the output end of the electrically controlled push rods 30, when the bearing platform 27 is in standby mode, the electrically controlled push rods 30 control the anti-slip plates 31 to disengage from the bearing platform 27, so that the bearing platform 27 automatically maintains verticality under the influence of gravity. When the bearing platform 27 is about to start working, the electrically controlled push rods 30 push the anti-slip plates 31, so that the anti-slip surface of the anti-slip plates 31 contacts the surface of the bearing platform 27 and clamps and fixes the bearing platform 27. This further solves the problem that in the process of using the traditional intelligent oil casing processing truss 2 handling robot, when handling oil casing, the foundation of the device is prone to sinking, which over time causes the whole machine to tilt, thus causing serious wear to the rigid crane's robotic arm.

[0024] An operation method based on an intelligent gantry handling robot for oil casing processing is disclosed. The method employs the aforementioned intelligent gantry handling robot for oil casing processing, and is as follows: S1: By setting a first electrically controlled lead screw 11 and a first limiting rod 12 at both ends of the top of the truss 2, the first electrically controlled lead screw 11 and the first limiting rod 12 are used to control the lateral movement of the moving platform 13. By setting a second electrically controlled lead screw 14 and a second limiting rod 15 at both ends of the inner wall of the moving platform 13, the second electrically controlled lead screw 14 and the second limiting rod 15 are used to make the control console 16 move longitudinally. By setting a support shaft 26 on the inner wall of the control console 16, the support shaft 26 is used to support the bearing platform 27 set on its outer wall. Start. The dual-head motor 40 installed in the inner cavity of the bearing platform 27 causes the rigid arm 33 to drive the transport body 1, connecting plate 6, lifting device 7 and V-hook 8 installed at its bottom to approach the oil casing and place the oil casing in the inner wall of the V-hook 8. The first electrically controlled telescopic rod 9 is activated, and the arc-shaped block 10 installed at its output end fixes the oil casing in the V-hook 8. Then, the detection component installed at the center of the inner cavity of the lifting device 7 is used to keep the connecting plate 6 and the lifting device 7 horizontal. Then, the first electrically controlled screw 11 and the second electrically controlled screw 14 are activated to realize the transport of the oil casing. S2: The detection component sets a cavity 17 at the center of the inner cavity of the lifting device 7, and sets a detection chamber 18 at the center of the top of the inner wall of the cavity 17. Since the detection chamber 18 is filled with insulating liquid and a groove is set at the center of the top of the inner wall of the detection chamber 18, there are suspended air bubbles in the groove. When the lifting device 7 lifts the oil casing, the electrically controlled telescopic platform 20 set between the outer wall of the detection chamber 18 and the inner wall of the cavity 17 is activated, so that the support plate 21 set at its output end drives several mutually symmetrical extension rods 22 and the annular electrode 23 set at its end to move upward continuously. Since the annular electrode 23 is always in a discharge state, when the lifting device 7 tilts, the suspended air bubbles leave the groove and move between the annular electrode 23 and the annular receiver 19. At this time, the current released by the annular electrode 23 passes through the suspended air bubbles and is received by the annular receiver 19, and controls the second electrically controlled telescopic rod 24 at the corresponding position to squeeze the connecting plate 6, so as to keep the oil casing in the V-hook 8 horizontal. S3: By setting electric push rods 30 at both ends of the inner wall of the control console 16 away from the support shaft 26, and setting anti-slip plate 31 at the output end of the electric push rods 30, when the support platform 27 is in standby state, the electric push rods 30 control the anti-slip plate 31 to disengage from the support platform 27, so that the support platform 27 automatically maintains verticality under the influence of gravity. When the support platform 27 is about to work, the electric push rods 30 push the anti-slip plate 31, so that the anti-slip surface of the anti-slip plate 31 contacts the surface of the support platform 27, and clamps and fixes the support platform 27.

[0025] The working principle of this intelligent gantry handling robot for oil casing processing and its operation method will be explained in detail below.

[0026] like Figures 1 to 10As shown, by setting a first electric control screw 11 and a first limit rod 12 at both ends of the top of the truss 2, activating the first electric control screw 11 controls the moving platform 13 on its outer wall to move laterally along the trajectory of the first limit rod 12. By setting a second electric control screw 14 and a second limit rod 15 at both ends of the inner wall of the moving platform 13, activating the second electric control screw 14 controls the control console 16 on the inner wall of the moving platform 13 to move longitudinally along the trajectory of the second limit rod 15. When the forklift moves the oil casing to the appropriate position, the control console 16 moves to the appropriate position through the cooperation between the first electric control screw 11 and the second electric control screw 14. A support shaft 26 is set at the center of the inner cavity of the control console 16. A support platform 27 is provided at the center of the outer wall of the support shaft 26. A double-headed motor 40 located at the center of the inner cavity of the support platform 27 is activated, thereby controlling the rigid arms 33 at both ends to move the transport body 1 downwards and gradually approach the oil casing. A connecting shaft 3 is provided at the center of the top of the transport body 1, and a cross shaft 4 is provided at the bottom of the connecting shaft 3. A mounting plate 5 is provided at the bottom of the cross shaft 4, and a connecting plate 6 is provided on the outer wall of the mounting plate 5. The lifting device 7 located at the bottom of the connecting plate 6 approaches the oil casing under the traction of the first electric control screw 11 and the second electric control screw 14. A V-hook 8 is provided at one end of the bottom of the lifting device 7, causing the V-hook 8 to move to the bottom of the oil casing. Then, the rigid arms 33 pull the transport body 1, causing... The V-hook 8 lifts the bottom of the oil casing and detaches it from the forklift. A cavity 17 is located at the center of the inner cavity of the spreader 7, and a detection chamber 18 is located at the center of the top of the inner wall of the cavity 17. Since the detection chamber 18 is filled with insulating liquid and has a groove at the center of the top of its inner wall containing suspended air bubbles, when the spreader 7 lifts the oil casing, the electrically controlled telescopic platform 20, located between the outer wall of the detection chamber 18 and the inner wall of the cavity 17, is activated. This causes the support plate 21 at its output end to drive several symmetrically arranged extension rods 22 and their annular electrodes 23 to continuously move upwards. Because the annular electrodes 23 are always in a discharging state, when the spreader 7 tilts, the suspended air bubbles detach from the groove and move to... Between the annular electrode 23 and the annular receiver 19, the current released by the annular electrode 23 passes through the suspended bubble and is received by the annular receiver 19, which controls the second electrically controlled telescopic rod 24 at the corresponding position to squeeze the connecting plate 6, so as to keep the oil casing in the V-hook 8 horizontal. Finally, under the traction of the first electrically controlled lead screw 11 and the second electrically controlled lead screw 14, the oil casing is transported. This further solves the problem that in the traditional intelligent oil casing processing truss 2 handling robot, the lifting device is tilted during use, which causes the lifting device 7 to be unable to lift the oil casing smoothly, thus causing the oil casing to slip in the lifting device 7 and deviate from the center position of the lifting device 7, resulting in the oil casing falling off. This greatly improves the stability and safety of the handling process.

[0027] The present invention has been described in detail above. However, modifications or improvements can be made to it, which will be obvious to those skilled in the art. Therefore, any modifications or improvements that do not depart from the spirit of the present invention are within the scope of protection of the present invention.

Claims

1. A gantry-type manipulator for intelligent oil casing processing, comprising a handling body (1) and a gantry (2), characterized in that: The top center of the transport body (1) is rotatably connected to a connecting shaft (3), and the bottom of the connecting shaft (3) is fixedly connected to a cross shaft (4), and the bottom of the cross shaft (4) is fixedly connected to a mounting plate (5). The outer wall of the mounting plate (5) is rotatably connected to a connecting plate (6), and the bottom of the connecting plate (6) is fixedly connected to a lifting device (7). One end of the bottom of the lifting device (7) is fixedly connected to several V-shaped hooks (8). The bottom of the lifting device (7) away from the V-shaped hooks (8) is fixedly connected to two mutually symmetrical first electrically controlled telescopic rods (9), and the output ends of the two first electrically controlled telescopic rods (9) are fixedly connected to an arc-shaped block (10). A detection component is provided at the center of the inner cavity of the lifting device (7). One end of the top of the truss (2) is rotatably connected to a first electrically controlled lead screw (11), and the end of the top of the truss (2) away from the first electrically controlled lead screw (11) is fixedly connected to a first limiting rod (12). A moving platform (13) is threadedly connected to the outer wall of the first electrically controlled lead screw (11), and the bottom end of the moving platform (13) away from the first electrically controlled lead screw (11) is slidably connected to the outer wall of the first limiting rod (12). One end of the inner wall of the moving platform (13) is rotatably connected to a second electrically controlled lead screw (11). 14), and a second limiting rod (15) is fixedly connected to the end of the inner wall of the moving platform (13) away from the second electric control screw (14). The inner wall of the moving platform (13) is slidably connected to the control console (16), and one end of the inner cavity of the control console (16) is threadedly connected to the outer wall of the second electric control screw (14). The end of the inner cavity of the control console (16) away from the second electric control screw (14) is slidably connected to the outer wall of the second limiting rod (15). An adjustment component is provided on the inner wall of the control console (16).

2. The intelligent gantry handling robot for oil casing processing according to claim 1, characterized in that: The detection assembly includes a cavity (17) opened at the center of the inner cavity of the hoist (7), and a detection chamber (18) is fixedly connected at the center of the top of the inner wall of the cavity (17). A groove is opened at the center of the top of the inner wall of the detection chamber (18), and an annular receiver (19) is fixedly connected at the end of the top of the inner wall of the detection chamber (18) near the groove. An electrically controlled telescopic platform (20) is fixedly connected between the outer wall of the detection chamber (18) and the inner wall of the cavity (17).

3. The intelligent gantry handling robot for oil casing processing according to claim 2, characterized in that: The output end of the electrically controlled telescopic platform (20) is fixedly connected to a support plate (21), and the top of the support plate (21) is fixedly connected to several mutually symmetrical extension rods (22). The outer walls of the extension rods (22) are connected to the inner wall of the detection chamber (18) through and sealed in a sliding connection, and the ends of the extension rods (22) are fixedly connected to an annular electrode (23).

4. The intelligent gantry handling robot for oil casing processing according to claim 3, characterized in that: The bottom of the transport body (1) is fixedly connected to several mutually symmetrical second electric telescopic rods (24) at the four corners, and the output ends of the several second electric telescopic rods (24) are fixedly connected to contact blocks (25), and the bottom of the contact blocks (25) contacts the top of the connecting plate (6).

5. The intelligent gantry handling robot for oil casing processing according to claim 4, characterized in that: The adjustment assembly includes a support shaft (26) rotatably connected to the center of the inner cavity of the control console (16), and a bearing platform (27) is fixedly connected to the center of the outer wall of the support shaft (26). Limiting posts (28) are fixedly connected to both sides of the outer wall of the bearing platform (27). Limiting grooves (29) are opened on both sides of the inner wall of the control console (16) near the support shaft (26). The inner wall of the limiting groove (29) is slidably connected to the outer wall of the limiting post (28). Electric control push rods (30) are fixedly connected to both ends of the inner wall of the control console (16) away from the support shaft (26). Anti-slip plate (31) is fixedly connected to the output end of the electric control push rod (30). The outer wall of the anti-slip plate (31) is in contact with the outer wall of the bearing platform (27).

6. The intelligent gantry handling robot for oil casing processing according to claim 5, characterized in that: Both ends of the outer wall of the support platform (27) are fixedly connected to the limit box (32), and the inner walls of the two limit boxes (32) are slidably connected to the rigid arm (33). The bottom of the two rigid arms (33) is fixedly connected to the two ends of the top of the transport body (1), and the bottom of one side of the outer wall of the two rigid arms (33) is fixedly connected to the anti-collision block.

7. The intelligent gantry handling robot for oil casing processing according to claim 6, characterized in that: One end of the inner wall of the limiting box (32) is rotatably connected to a linkage gear ring (34), and the inner wall of the linkage gear ring (34) is fixedly connected to a lead screw nut (35). The inner wall of the lead screw nut (35) is threadedly connected to a transmission lead screw (36), and the end of the transmission lead screw (36) is rotatably connected to the inner cavity of the rigid arm (33).

8. The intelligent gantry handling robot for oil casing processing according to claim 7, characterized in that: One end of the outer wall of the linkage gear ring (34) is engaged with a guide gear rod (37), and the outer wall of the guide gear rod (37) is rotatably connected to the inner wall of the limiting box (32). The end of the inner wall of the limiting box (32) near the guide gear rod (37) is rotatably connected with a transmission gear rod (38), and the outer wall of the transmission gear rod (38) is engaged with the outer wall of the guide gear rod (37). The bottom of the transmission gear rod (38) is fixedly connected with a worm gear (39), and the bottom of the worm gear (39) is rotatably connected to the bottom of the inner wall of the limiting box (32).

9. A gantry handling robot for intelligent oil casing processing according to claim 8, characterized in that: A double-headed motor (40) is fixedly connected to the center of the inner cavity of the bearing platform (27), and a transmission rod (41) is fixedly connected to the output end of the double-headed motor (40). The outer wall of the transmission rod (41) penetrates and is rotatably connected to the inner cavity of the bearing platform (27). A worm (42) is fixedly connected to the end of the transmission rod (41), and the end of the worm (42) is rotatably connected to the bottom of the inner wall of the limiting box (32). One end of the outer wall of the worm (42) meshes with the outer wall of the worm wheel (39).

10. An operation method based on an intelligent gantry handling robot for oil casing processing, wherein the method employs the intelligent gantry handling robot for oil casing processing as described in any one of claims 1-9, characterized in that: The method is as follows: S1: By setting a first electric control screw (11) and a first limiting rod (12) at both ends of the top of the truss (2), the first electric control screw (11) and the first limiting rod (12) are used to control the moving platform (13) to move laterally. By setting a second electric control screw (14) and a second limiting rod (15) at both ends of the inner wall of the moving platform (13), the second electric control screw (14) and the second limiting rod (15) are used to make the control console (16) move longitudinally. By setting a support shaft (26) on the inner wall of the control console (16), the support shaft (26) is used to support the bearing platform (27) set on its outer wall. Start The double-headed motor (40) installed in the inner cavity of the bearing platform (27) causes the rigid arm (33) to drive the transport body (1), connecting plate (6), lifting tool (7) and V-hook (8) installed at its bottom to approach the oil casing and make the oil casing in the inner wall of the V-hook (8). The first electric telescopic rod (9) is activated so that the arc block (10) installed at its output end fixes the oil casing in the V-hook (8). Then, the detection component installed at the center of the inner cavity of the lifting tool (7) is used to keep the connecting plate (6) and the lifting tool (7) horizontal. Then, the first electric control screw (11) and the second electric control screw (14) are activated to realize the transport of the oil casing. S2: The detection component sets a cavity (17) at the center of the inner cavity of the lifting device (7), and sets a detection chamber (18) at the center of the top of the inner wall of the cavity (17). Since the detection chamber (18) is filled with insulating liquid, and a groove is set at the center of the top of the inner wall of the detection chamber (18), and there are suspended air bubbles in the groove, when the lifting device (7) lifts the oil casing, the electrically controlled telescopic platform (20) set between the outer wall of the detection chamber (18) and the inner wall of the cavity (17) is activated, so that the support plate (21) set at its output end drives several phases. The mutually symmetrical extension rods (22) and the annular electrode (23) set at their ends continue to move upward. Since the annular electrode (23) is always in a discharge state, when the lifting device (7) tilts, the suspended bubble leaves the groove and moves between the annular electrode (23) and the annular receiver (19). At this time, the current released by the annular electrode (23) passes through the suspended bubble and is received by the annular receiver (19), and controls the second electrically controlled telescopic rod (24) at the corresponding position to squeeze the connecting plate (6) so as to keep the oil casing in the V-hook (8) horizontal. S3: By setting electric push rods (30) at both ends of the inner wall of the control console (16) away from the support shaft (26), and setting anti-slip plate (31) at the output end of the electric push rod (30), when the carrier platform (27) is in standby state, the electric push rod (30) controls the anti-slip plate (31) to disengage from the carrier platform (27), so that the carrier platform (27) automatically maintains verticality under the influence of gravity. When the carrier platform (27) is about to start working, the electric push rod (30) pushes the anti-slip plate (31) so that the anti-slip surface of the anti-slip plate (31) contacts the surface of the carrier platform (27) and clamps and fixes the carrier platform (27).

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