Mechanical arm two-stage cooperative positioning medicament storage device for automatically preparing drilling fluid

Abstract

The invention discloses a mechanical arm two-stage cooperative positioning medicament storage device for automatically preparing drilling fluid, which comprises a grabbing mechanical arm, a plurality of medicament containers and a medicament storage rack for accommodating the plurality of medicament containers, and when the medicament containers are placed on the medicament storage rack, the medicament containers and the medicament storage rack are connected through a first cooperative positioning mechanism; and when the grabbing mechanical arm grabs the medicament container, the grabbing mechanical arm and the medicament container are connected through the second cooperative positioning mechanism. According to the invention, through two-stage cooperative positioning, high-precision and high-repeatability positioning of the medicament container in two links of storage and grabbing is realized.

Description

Technical Field

[0001] This invention relates to the field of drilling fluid preparation technology, specifically to a two-stage collaborative positioning reagent storage device for automatic drilling fluid preparation using a robotic arm. Background Technology

[0002] In the field of automated chemical preparation, especially in the automated preparation of drilling fluids, it is necessary to mix various types of powdered and liquid agents according to precise formulas. An existing material feeding device typically includes a funnel-shaped storage unit for storing powder and a circulation pipeline for storing liquid, with valves controlling the discharge of materials on each. While this design enables automatic material addition, it has significant drawbacks: First, its structure only supports the storage and addition of single powder and single liquid materials, failing to meet the complex requirements of actual drilling fluid formulations that typically contain multiple agents. This results in poor practicality, cumbersome operations when changing agents, and a severe lack of flexibility. Second, in systems using robotic arms for automated gripping and transport of agent containers, the potential for center of gravity shifts, dimensional tolerances, and placement errors within the storage array make it difficult for the robotic arm to achieve high-precision, repetitive gripping. This frequently leads to gripping failures, container slippage, or inaccurate positioning, severely impacting the continuity, stability, and accuracy of the entire automated preparation process. Consequently, it cannot meet the stringent requirements of unattended, high-precision, continuous operation in industrial settings, especially drilling platforms.

[0003] Therefore, providing a two-stage collaborative positioning agent storage device for drilling fluid automatic preparation with a high-precision positioning robotic arm is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0004] In view of this, the present invention provides a two-stage collaborative positioning reagent storage device for robotic arm in automatic drilling fluid preparation, in order to solve the technical problems of being unable to adapt to multiple reagent formulations in the process of automatic drilling fluid preparation, and the failure of robotic arm to grasp due to insufficient positioning and grasping accuracy of reagent containers, which in turn affects the automation continuity and accuracy of preparation.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] A two-stage cooperative positioning chemical storage device for automatic drilling fluid preparation using a robotic arm includes a gripping robotic arm, multiple chemical containers, and a chemical storage rack for accommodating the multiple chemical containers. When the chemical containers are placed on the chemical storage rack, the two are connected by a first cooperative positioning mechanism; when the gripping robotic arm grips the chemical containers, the two are connected by a second cooperative positioning mechanism.

[0007] Furthermore, the first collaborative positioning mechanism includes a first positioning part disposed on the medicine container and a first limiting part disposed on the medicine storage rack and adapted to the first positioning part; the second collaborative positioning mechanism includes a second positioning part disposed on the medicine container and a second limiting part disposed on the gripper of the gripping robotic arm and adapted to the second positioning part.

[0008] Furthermore, the first positioning part includes a positioning surface and a positioning boss, and the first limiting part includes a limiting surface and a limiting groove. When the medicine container is placed on the medicine storage rack, the positioning surface and the limiting surface fit together to achieve radial positioning, while the positioning boss engages with the limiting groove to achieve circumferential limiting. The second positioning part is a gripping limiting groove, and the second limiting part is a gripping limiting block disposed on the inner side of the gripper. When the gripper holds the medicine container, the gripping limiting block is embedded in the gripping limiting groove to achieve positioning.

[0009] Furthermore, both the positioning surface and the limiting surface are arc surfaces.

[0010] Furthermore, the medicine container includes a powder container and a liquid tube, and the medicine storage rack includes a powder storage rack for accommodating a plurality of the powder containers and a liquid storage rack for accommodating a plurality of the liquid tubes.

[0011] Furthermore, the powder storage rack includes a first frame body fixedly connected to a plurality of powder can positioning frames; the upper part of the powder can positioning frame is provided with a first limiting surface and a first limiting groove; the lower part of the powder can is provided with a first positioning surface and a first positioning boss located above the first positioning surface and connected as one piece. When the powder can is placed on the powder can positioning frame, the first positioning surface fits against the first limiting surface to achieve radial positioning, while the first positioning boss engages with the first limiting groove to achieve circumferential positioning. The liquid storage rack includes a fixedly connected second frame and multiple liquid tube positioning frames; the liquid tube positioning frame is provided with a second limiting surface and a second limiting groove; the liquid tube is provided with a second positioning surface and a second positioning boss located below the second positioning surface and connected as one piece. When the liquid tube is placed on the liquid tube positioning frame, the second positioning surface and the second limiting surface are in contact to achieve radial positioning, while the second positioning boss and the second limiting groove are engaged to achieve circumferential positioning.

[0012] Furthermore, it also includes a support base on which the gripping robotic arm is mounted.

[0013] Therefore, this invention provides a two-stage cooperative positioning agent storage device for automatic drilling fluid preparation using a robotic arm. Compared with the prior art, this invention has the following advantages: 1) Improved formulation flexibility and efficiency: Compared with the limitations of existing technologies that can only handle a single material, the present invention, by setting up a storage rack that can accommodate multiple powder tanks and liquid tubes, realizes the simultaneous storage and on-demand use of multiple agents, which can flexibly cope with complex drilling fluid formulations and significantly improve the flexibility and overall efficiency of the formulation work. 2) Guaranteed extremely high precision and reliability of automated operations: This invention fundamentally solves two major precision problems in automated operations through a two-level collaborative positioning mechanism. The positioning mechanism between the container and the storage rack ensures that the container's storage position is highly consistent (repeat positioning accuracy ≤ ±0.2 mm), providing a precise initial position reference for the robotic arm's blind gripping or vision-assisted gripping; the positioning mechanism between the gripper and the container ensures the accuracy and reliability of the gripping action itself. The combination of the two greatly improves the success rate of the robotic arm's gripping in one go, ensuring no missed gripping during 24-hour continuous measurement and fully meeting the needs of unattended, high-precision automated measurement and measurement in harsh working conditions such as drilling sites. 3) The system has been standardized and costs have been reduced: By designing a unified positioning and gripping interface on powder tanks and liquid tubes, the same robotic arm and storage system can be compatible with different types of pharmaceutical containers, reducing the complexity of the system and the development and manufacturing costs. At the same time, precise mechanical positioning reduces the reliance on expensive and complex vision recognition systems and control algorithms, and improves the stability and response speed of the system. Attached Figure Description

[0014] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0015] Figure 1 The attached figure is a schematic diagram of a two-stage cooperative positioning reagent storage device for automatic drilling fluid preparation by a robotic arm provided by the present invention. Figure 2 The attached figure is a schematic diagram of the structure of the medicine storage rack provided by the present invention; Figure 3 The attached figure is a structural schematic diagram of the powder container positioning frame provided by the present invention; Figure 4 The attached figure is a schematic diagram of the structure of the powder container provided by the present invention; Figure 5 The attached figure is a structural schematic diagram of the liquid tube positioning frame provided by the present invention; Figure 6 The attached figure is a schematic diagram of the liquid tube provided by the present invention; Figure 7 The attached figure is a schematic diagram of the gripper's grasping and limiting block provided by the present invention. Detailed Implementation

[0016] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0017] like Figure 1-7 As shown in the figure, this invention discloses a two-stage cooperative positioning reagent storage device for automatic drilling fluid preparation using a robotic arm. The device includes a gripping robotic arm 1, multiple reagent containers 2, and a reagent storage rack 3 that houses the containers 2. When the reagent containers 2 are placed on the storage rack 3, they are connected via a first cooperative positioning mechanism; when the gripping robotic arm 1 grips the reagent containers 2, they are connected via a second cooperative positioning mechanism. This invention achieves high-precision, high-repeatability positioning of the reagent containers 2 in both the storage and gripping stages through two-stage cooperative positioning.

[0018] Specifically, the first collaborative positioning mechanism includes a first positioning part disposed on the medicine container 2 and a first limiting part disposed on the medicine storage rack 3 and adapted to the first positioning part. The first positioning part and the first limiting part cooperate to achieve dual limiting of the medicine container 2 in the vertical direction (Z-axis direction) and the circumferential direction (rotation direction), ensuring that the placement position of each medicine container 2 on the medicine storage rack 3 is unique and highly repeatable. The second collaborative positioning mechanism includes a second positioning part disposed on the medicine container 2 and a second limiting part disposed on the gripper 11 of the gripping robotic arm 1 and adapted to the second positioning part. The second positioning part and the second limiting part cooperate to achieve stable and precise clamping of the medicine container 2.

[0019] Specifically, the first positioning part includes a positioning surface and a positioning boss, i.e., layered positioning; the first limiting part includes a limiting surface and a limiting groove. When the medicine container 2 is placed on the medicine storage rack 3, the positioning surface and the limiting surface fit together to achieve radial positioning, while the positioning boss and the limiting groove engage to achieve circumferential limiting. The second positioning part is a gripping limiting groove, and the second limiting part is a gripping limiting block 111 disposed inside the gripper 11. When the gripper 11 grips the medicine container 2, the gripping limiting block 111 is embedded in the gripping limiting groove to achieve positioning. This invention not only ensures the positional accuracy of the gripping, but also effectively avoids the problem of medicine container falling off due to gripping failure (relative sliding or rotation of the medicine container during the gripping process), thus effectively ensuring the stability and safety of the operation process.

[0020] Of course, in some embodiments, the inner surface of the gripper 11 is provided with a gripping limiting groove (recessed structure), and correspondingly, a gripping limiting block (protruding structure) is provided on the outer wall of the medicine container 2. In essence, they all belong to the convex-concave mating, and the precise relative positioning of the gripper 11 and the medicine container 2 is achieved through mechanical engagement.

[0021] Specifically, both the positioning surface and the limiting surface are arc-shaped to further improve positioning accuracy.

[0022] Of course, in some embodiments, the bottom and / or the outer contour of the positioning surface of the medicine container 2 is designed to be non-circular, such as a regular hexagon. Correspondingly, the limiting surface on the medicine storage rack 3 is also designed to be a matching regular hexagonal hole. When the medicine container 2 is placed in the positioning rack, the matching of the hexagonal contour directly achieves radial positioning and circumferential limiting at the same time. Due to the geometric constraints, the container cannot rotate in the hole, and its position and orientation are uniquely determined.

[0023] Specifically, the medicine container 2 includes a powder container 21 and a liquid tube 22. The medicine storage rack 3 includes a powder storage rack 31 for accommodating multiple powder containers 21 and a liquid storage rack 32 for accommodating multiple liquid tubes 22. In this embodiment, the powder storage rack 31 can accommodate 13 powder containers 21 at the same time and can store 13 different types of powder medicines to meet diverse operational needs. The liquid storage rack 32 can hold 10 liquid tubes 22 for storing 10 different types of liquid medicines, realizing the orderly classification and storage of liquid medicines.

[0024] Specifically, the powder storage rack 31 includes a first frame 311 fixedly connected to a plurality of powder can positioning frames 312; the upper part of the powder can positioning frame 312 is provided with a first limiting surface 3121 and a first limiting groove 3122; the lower part of the powder can 21 is provided with a first positioning surface 211 and a first positioning boss 212 located on the upper part of the first positioning surface 211 and connected as one piece. When the powder can 21 is placed on the powder can positioning frame 312, the first positioning surface 211 and the first limiting surface 3121 are fitted together to achieve radial positioning, and at the same time the first positioning boss 212 and the first limiting groove 3122 are engaged to achieve circumferential positioning, thereby achieving precise positioning of the powder can 21 in the Z-axis direction and circumferential direction, ensuring the uniformity of the position when the robotic arm grips the same powder can each time, further improving the overall gripping accuracy, and providing support for the accuracy of drilling fluid automatic batching and testing operations; the upper part of the powder can 21 has a first gripping limiting groove 213 adapted to the gripping limiting block 111; The liquid storage rack 32 includes a second frame 321 fixedly connected to a plurality of liquid tube positioning frames 322; the liquid tube positioning frame 322 is provided with a second limiting surface 3221 and a second limiting groove 3222; the liquid tube 22 is provided with a second positioning surface 221 and a second positioning boss 222 located below the second positioning surface 221 and connected as one piece. When the liquid tube 22 is placed on the liquid tube positioning frame 322, the second positioning surface 221 and the second limiting surface 3221 are in contact to achieve radial positioning, and at the same time the second positioning boss 222 and the second limiting groove 3222 are engaged to achieve circumferential positioning, thereby achieving dual positioning of the liquid tube 22 in the Z-axis direction and circumferential direction, ensuring that the robotic arm can grasp the same position every time it grips the same liquid tube, ensuring gripping consistency; the upper part of the liquid tube 22 has a second gripping limiting groove 223 adapted to the gripping limiting block 111.

[0025] Of course, in some embodiments, the main body shape of the powder container 21 and the liquid tube 22 is uniform, regardless of whether the contents are for holding powder or liquid. Specifically, they have exactly the same external dimensions and both have a first positioning part (such as an arc-shaped positioning surface and a positioning boss) for storage positioning and a second positioning part (such as a limiting groove) for gripping positioning in the same location. The differences between the containers are only in their internal structure or accessories. For example, a container for holding liquid may have an internal anti-splash membrane or a dedicated straw interface, while a container for holding powder may have a wider opening or a moisture-proof cover. In this way, whether handling powder or liquid, the robotic arm and storage system interact with a universal pharmaceutical container with a unified standard interface. The control system can perform uniform positioning, gripping, transfer, and placement actions without distinguishing between container types, simplifying the control logic and greatly improving the modularity and standardization of the system.

[0026] In some embodiments, a support base 4 is also included, on which the gripping robotic arm 1 is mounted to increase the structural stability of the robotic arm.

[0027] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to the method section.

[0028] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A two-stage cooperative positioning reagent storage device for automatic drilling fluid preparation using a robotic arm, comprising a gripping robotic arm, multiple reagent containers, and a reagent storage rack for accommodating the multiple reagent containers, characterized in that, When the medicine container is placed on the medicine storage rack, the two are connected by a first cooperative positioning mechanism; when the gripping robotic arm grips the medicine container, the two are connected by a second cooperative positioning mechanism.

2. The robotic arm-based two-stage cooperative positioning reagent storage device for automatic drilling fluid preparation according to claim 1, characterized in that, The first collaborative positioning mechanism includes a first positioning part disposed on the medicine container and a first limiting part disposed on the medicine storage rack and adapted to the first positioning part; the second collaborative positioning mechanism includes a second positioning part disposed on the medicine container and a second limiting part disposed on the gripper of the gripping robotic arm and adapted to the second positioning part.

3. The two-stage cooperative positioning reagent storage device for automatic drilling fluid preparation using a robotic arm according to claim 2, characterized in that, The first positioning part includes a positioning surface and a positioning boss, and the first limiting part includes a limiting surface and a limiting groove. When the medicine container is placed on the medicine storage rack, the positioning surface and the limiting surface fit together to achieve radial positioning, and the positioning boss engages with the limiting groove to achieve circumferential limiting. The second positioning part is a gripping limiting groove, and the second limiting part is a gripping limiting block disposed on the inner side of the gripper. When the gripper holds the medicine container, the gripping limiting block is embedded in the gripping limiting groove to achieve positioning.

4. The two-stage cooperative positioning reagent storage device for automatic drilling fluid preparation using a robotic arm according to claim 3, characterized in that, Both the positioning surface and the limiting surface are arc surfaces.

5. A two-stage cooperative positioning reagent storage device for automatic drilling fluid preparation using a robotic arm, as described in any one of claims 1-4, characterized in that, The pharmaceutical container includes a powder container and a liquid tube, and the pharmaceutical storage rack includes a powder storage rack for accommodating a plurality of the powder containers and a liquid storage rack for accommodating a plurality of the liquid tubes.

6. The robotic arm-based two-stage cooperative positioning reagent storage device for automatic drilling fluid preparation according to claim 5, characterized in that, The powder storage rack includes a first frame and multiple powder can positioning frames that are fixedly connected; the upper part of the powder can positioning frame is provided with a first limiting surface and a first limiting groove; the lower part of the powder can is provided with a first positioning surface and a first positioning boss located above the first positioning surface and connected as one piece. When the powder can is placed on the powder can positioning frame, the first positioning surface fits against the first limiting surface to achieve radial positioning, and at the same time, the first positioning boss engages with the first limiting groove to achieve circumferential positioning. The liquid storage rack includes a fixedly connected second frame and multiple liquid tube positioning frames; the liquid tube positioning frame is provided with a second limiting surface and a second limiting groove; the liquid tube is provided with a second positioning surface and a second positioning boss located below the second positioning surface and connected as one piece. When the liquid tube is placed on the liquid tube positioning frame, the second positioning surface and the second limiting surface are in contact to achieve radial positioning, while the second positioning boss and the second limiting groove are engaged to achieve circumferential positioning.

7. The robotic arm-based two-stage cooperative positioning reagent storage device for automatic drilling fluid preparation according to claim 1, characterized in that, It also includes a support base on which the gripping robotic arm is mounted.

Images